Site determination method, device, electronic equipment and unmanned docking system

Abstract

The embodiment of the present invention provides a site determination method, device, electronic device and unmanned driving docking system, the method comprising: obtaining driving data generated by a vehicle driving on a circular path in a park, the driving data including a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; obtaining multiple first driving routes, which are connected to form a circular path; for each first driving route, determining its preliminary position point according to its corresponding parking position point; obtaining at least two mutually continuous second areas divided on the first driving route, the preliminary position point is located in one of the multiple second areas; determining the site corresponding to the first driving route according to the parking position point corresponding to each second area. This embodiment determines the site of the driving route according to specific rules based on the parking position point corresponding to the driving route, and the determined site meets the needs of passengers, and the passengers have a better riding experience.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving, and in particular to a site determination method, device, electronic equipment and an unmanned driving docking system. Background Art

[0002] There are many relatively closed parks, such as zoos, botanical gardens, and closed scenic spots. In these parks, there are few vehicles and most tourists walk. Some parks currently have manually driven park sightseeing vehicles. For these parks, there is a need to increase the number of unmanned circulation vehicles to facilitate the pick-up and drop-off of tourists, reduce management costs, and improve the scientific and technological attributes of the park, thereby attracting more tourists.

[0003] If you want to add driverless vehicles, you need to determine the docking stations. The docking stations, also known as stations, are places for passengers to get on and off and wait for the bus. At present, the location of the stations is usually specified by staff on demand. During the driving process, the vehicle will stop at the designated stations in turn for passengers to get on and off at the stations. However, the stations specified by the staff are inevitably inconsistent with the stations required by the passengers, and the tourists' riding experience is not good. Summary of the invention

[0004] The embodiments of the present invention provide a site determination method, device, electronic device and unmanned driving docking system, and the determined sites meet the needs of passengers, and the passengers have a better riding experience.

[0005] In a first aspect, an embodiment of the present invention provides a site determination method, comprising: obtaining driving data generated by a vehicle driving on a circular path in a park, wherein the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; obtaining multiple first driving routes, wherein the multiple first driving routes are connected to form a circular path; for each of the first driving routes, determining a preliminary position point of the first driving route according to the parking position point corresponding to the first driving route; obtaining at least two mutually continuous second areas divided on the first driving route, wherein the preliminary position point is located in one of the multiple second areas; and determining a site corresponding to the first driving route according to the parking position point corresponding to each of the second areas.

[0006] Optionally, determining the preliminary position point of the first driving route based on the parking position points corresponding to the first driving route includes: for each parking position point corresponding to the first driving route, obtaining the distance between the parking position point and each other parking position point corresponding to the first driving route, and using the sum of the determined multiple distances as the first index value of the corresponding parking position point; and using the parking position point corresponding to the minimum first index value as the preliminary position point of the first driving route.

[0007] Optionally, the obtaining of at least two mutually continuous second areas divided on the first driving route includes: performing an area division operation on the first driving route according to the first driving route, the preliminary position point, and a preset first length to obtain at least two second areas; wherein the midpoint of the routes corresponding to the at least two second areas is the preliminary position point; and the driving route length of the second area is the first length.

[0008] Optionally, determining the station corresponding to the first driving route based on the parking location points corresponding to each of the second areas includes: determining the number of parking location points corresponding to each of the second areas as the second index value corresponding to the second area; and determining the station corresponding to the first driving route based on the second area corresponding to the maximum second index value.

[0009] Optionally, the vehicle is an unmanned vehicle, and the second area corresponding to the maximum second index value is a fixed site area of ​​the unmanned vehicle.

[0010] Optionally, the driving data includes a driving trajectory for representing a path actually driven by the vehicle based on the cycle path, and the method further includes: determining a driving and parking plan for the vehicle in the park based on the driving trajectory and the site.

[0011] In a second aspect, an embodiment of the present invention provides a station determination device, comprising: a first acquisition module, used to obtain driving data generated by a vehicle driving on a circular path in a park, wherein the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; a second acquisition module, used to obtain multiple first driving routes, and the multiple first driving routes are connected to form a circular path; a first determination module, used to determine a preliminary position point of each of the first driving routes according to the parking position point corresponding to the first driving route; a third acquisition module, used to obtain at least two mutually continuous second areas divided on the first driving route, wherein the preliminary position point is located in one of the multiple second areas; a second determination module, used to determine the station corresponding to the first driving route according to the parking position point corresponding to each of the second areas.

[0012] In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, wherein the memory is used to store program instructions, and the processor is used to execute the program instructions to implement a method as described in any one of the first aspects.

[0013] In a fourth aspect, an embodiment of the present invention provides an unmanned shuttle system, comprising: a control module, and a station determination device as described in the second aspect or an electronic device as described in the third aspect; the control module is used to obtain the driving position of the unmanned shuttle vehicle on the circulation path; based on the driving position, when it is determined that the unmanned shuttle vehicle has traveled to any station determined by the station determination device or the electronic device, the unmanned shuttle vehicle is controlled to perform a parking operation.

[0014] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the method as described in any one of the first aspects is implemented.

[0015] In an embodiment of the present invention, driving data generated by a vehicle driving on a circular path in a park is obtained, and the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; multiple first driving routes are obtained, which are connected to form a circular path; for each first driving route, its preliminary position point is determined according to its corresponding parking position point; at least two mutually continuous second areas divided on the first driving route are obtained, and the preliminary position point is located in one of the multiple second areas; according to the parking position point corresponding to each second area, the station corresponding to the first driving route is determined. This embodiment determines the station of the driving route according to specific rules based on the parking position point corresponding to the driving route, and the determined station meets the needs of passengers, and the passengers have a better riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of a flow chart of a site determination method provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a circulation path provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of determining a site according to a preliminary location point provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a microcirculation intelligent connection implementation process provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of a system for realizing intelligent docking provided by an embodiment of the present invention;

[0022] Figure 6 A block diagram of a site determination device provided by an embodiment of the present invention;

[0023] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0027] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0028] It should be understood that, although the terms first, second, etc. may be used to describe the set thresholds in the embodiments of the present invention, these set thresholds should not be limited to these terms. These terms are only used to distinguish the set thresholds from each other. For example, without departing from the scope of the embodiments of the present invention, the first set threshold may also be referred to as the second set threshold, and similarly, the second set threshold may also be referred to as the first set threshold.

[0029] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application.

[0030] like Figure 1 As shown, the embodiment of the present invention provides a site determination method, including steps 101 to 105:

[0031] Step 101, obtaining driving data generated by a vehicle driving on a circular path in a park, wherein the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving.

[0032] In this embodiment, the vehicle travels on a circular path in the park. According to the driving trajectory of the vehicle along the circular path, the circular driving route of the unmanned shuttle bus can be fitted, and the unmanned shuttle bus can automatically travel along the circular driving route.

[0033] The vehicle may be an unmanned vehicle. The park may be a zoo, botanical garden, closed scenic area or other closed or semi-closed park that is not connected to the urban transportation system. The vehicle may be a shuttle bus or a sightseeing tour bus in the park.

[0034] The cycle path can be a line segment with two endpoints, or a circular route (for example, Figure 2 The data of the circulation path can be manually input or imported in advance through other interfaces.

[0035] When the vehicle travels along the cycle path, corresponding travel data may be generated. The travel data may at least include a parking position of the vehicle, which is the actual parking position of the vehicle.

[0036] Taking into account that there may be deviations between the vehicle's driving trajectory and the loop path, the parking position point of the vehicle on the loop path can be obtained based on the vehicle's actual parking position, that is, the parking position point of the vehicle, that is, the parking position point corresponding to the loop path.

[0037] Optionally, the vehicle stops based on received instructions or perception results while driving.

[0038] The received instruction may be a parking instruction sent by a security officer or a visitor on the vehicle using a controller. The security officer or the visitor may send a parking instruction based on the needs of getting on and off the vehicle.

[0039] The vehicle can stop when it senses that there are tourists waving in front or on the roadside, or it can stop when it senses that there is danger ahead.

[0040] Step 102: Acquire a plurality of first driving routes, wherein the plurality of first driving routes are connected to form a loop path.

[0041] In order to obtain each docking station of the cycle path, the cycle path can be divided into regions to obtain each first driving route, and the first driving route is a first-level region obtained by the division. A corresponding station can be determined in a first-level region.

[0042] In addition, the primary region may be subsequently divided into multiple secondary regions (ie, multiple second regions described below).

[0043] Please refer to Figure 2 , through Figure 2 The loop path shown is divided into regions to obtain multiple first driving routes, wherein the region between two "P" points is a first driving route.

[0044] In order to ensure the uniform distribution of sites on the circulation path and achieve wide coverage of sites, the circulation path can be divided into multiple areas. Figure 2 As shown, 7 areas can be divided, that is, 7 first driving routes are obtained.

[0045] Usually, the divided regions can be the entire cycle path (such as Figure 2 As shown), multiple regions are connected to form a loop path.

[0046] In other feasible implementations, the divided regions may also be parts of a loop path, and the multiple regions and other parts are connected to form a loop path. For example, the loop path may be divided according to a fixed length, and if the length of the remaining route after division does not reach the fixed length, the remaining route is not used as the first driving route.

[0047] In this embodiment, the division operation may be performed in step 102 to obtain the first driving route, or the set area division data may be directly obtained. The area division data may be obtained by manual entry, or may be existing data.

[0048] In the case of dividing the circular path to obtain the first driving route, the circular path can be divided into multiple driving routes (at least two driving routes), and each of the divided driving routes can be used as the above-mentioned first driving route, so that the stations of each driving route can be determined to obtain the stations of the circular path.

[0049] Based on the above content, the first driving route can be obtained by dividing the circulation path of the corresponding shuttle bus.

[0050] It is feasible to first obtain the circulation path of the corresponding shuttle bus; and obtain the first driving route by dividing the circulation path.

[0051] Among them, the circular path can be divided into multiple first-level areas (that is, divided into multiple driving routes) at one time, and each first-level area can be used as a first driving route respectively. Alternatively, one first-level area can be divided at a time (that is, a driving route is divided) and used as a first driving route. After the station of the first driving route is determined, the division operation is performed again until the circular path is divided.

[0052] This embodiment divides the circulation path into multiple primary areas and determines the stations in each area, so as to ensure the reasonable arrangement of the stations on the circulation path, meet the needs of passengers, and improve the passenger experience.

[0053] Step 103: for each first driving route, determine a preliminary position point of the first driving route according to the parking position point corresponding to the first driving route.

[0054] In this embodiment, the parking position points corresponding to the driving route may include various parking position points located on the driving route. Feasibly, the historical parking positions of the vehicle on the driving route may be used as the parking position points corresponding to the driving route.

[0055] This embodiment determines the station based on the parking position corresponding to the driving route, and the parking position may be a historical parking position of the vehicle on the driving route. The historical parking position of the vehicle reflects the passenger's demand for the station, so that the station can be accurately determined.

[0056] If a parking location point is not only on the circulation path of the corresponding shuttle bus, but also specifically on a first driving route included in the circulation path, then the parking location point corresponds to the circulation path and the first driving route at the same time.

[0057] In this step, a preliminary location point (or preliminary point) of the first driving route is determined, and the stops of the first driving route can be determined based on the preliminary location point. For example, the midpoint of the first driving route can be used as the preliminary location point, or the parking location point with the smallest sum of distances to other parking locations in the first driving route can be used as the preliminary location point.

[0058] Step 104 , obtaining at least two mutually continuous second areas divided on the first driving route, wherein the preliminary position point is located in one of the plurality of second areas.

[0059] The multiple second areas being connected to each other can generally be understood as the multiple second areas being connected end to end in sequence on the first driving route.

[0060] The lengths of the driving routes corresponding to the at least two second areas are shorter than the length of the first driving route.

[0061] Feasibly, on the first driving route, a plurality of second areas may be divided before and after the preliminary position point, so that the preliminary position point is located in one of the plurality of second areas, that is, the preliminary position point is located in one of the second areas.

[0062] In this step, after the preliminary position points of the primary area (i.e., the first driving route) are determined, multiple secondary areas (i.e., multiple second areas) are divided based on the preliminary position points. Figure 3 , five secondary regions can be divided based on the preliminary location points. The boundaries of each secondary region are as follows Figure 3 The parking location can be as shown in the dashed line. Figure 3 As shown by the short and medium straight lines, Figure 3 The long straight line shown may be part or all of the first driving route.

[0063] The route length of the secondary area may be 1 m, feasibly.

[0064] Step 105: Determine a stop corresponding to the first driving route according to each parking location point corresponding to the second area.

[0065] This embodiment divides multiple secondary areas based on the preliminary location points, and then determines the stations according to the parking location points in each secondary area, for example, the station can be determined according to the secondary area with the most parking location points, or the station can be determined according to the secondary area with the most dense parking location points. The determined station is the fixed parking station for microcirculation connection.

[0066] The route length of the station may be 1 m, feasibly.

[0067] It can be seen from the above that the site determination method provided in this embodiment can determine the sites of the driving route according to the parking locations corresponding to the driving route according to specific rules. The determined sites meet the needs of passengers and the passengers have a better riding experience.

[0068] In one embodiment of the present invention, in order to ensure the safety of vehicle driving, taking park shuttle as an example, the park road for the shuttle vehicle to travel can be a closed road, and the lanes are hard-separated.

[0069] As mentioned above, the parking location point with the smallest sum of distances to other parking locations in the area may be used as the preliminary location point.

[0070] Based on this, in one embodiment of the present invention, determining the preliminary position point of the first driving route based on the parking position point corresponding to the first driving route includes: for each parking position point corresponding to the first driving route, obtaining the distance between the parking position point and each other parking position point corresponding to the first driving route, and using the sum of the determined multiple distances as the first index value of the corresponding parking position point; and using the parking position point corresponding to the minimum first index value as the preliminary position point of the first driving route.

[0071] In this embodiment, for each parking position point in the area, the sum of the distances between the parking position point and other parking position points in the area is calculated, and the parking position point corresponding to the maximum sum is taken as the initial position point.

[0072] In this way, when the station is subsequently determined based on the initial location, the distance between the station and each historical parking location (the historical parking location reflects the passenger's demand for boarding and alighting locations) can be relatively close as a whole, avoiding the situation where the passenger's desired boarding and alighting location is far away from the station location. In this way, the passenger experience can be improved.

[0073] Please refer to Figure 3 In one embodiment of the present invention, the obtaining of at least two mutually continuous second areas divided on the first driving route includes: performing an area division operation on the first driving route according to the first driving route, the preliminary position point, and the preset first length to obtain at least two second areas; wherein the midpoints of the routes corresponding to the at least two second areas are the preliminary position points; and the driving route length of the second area is the first length.

[0074] In this embodiment, based on the determined preliminary position point, the second length (the second length is the total length of multiple second areas, for example, when the first length is 1m and the number of second areas is 5, the second length is 5m) can be expanded by half (that is, 2.5m respectively) along the extension directions on both sides of the driving route where the preliminary position point is located to obtain second areas of each first length.

[0075] Preferably, the first length may be 1 m and the second length may be 5 m. Figure 3 , five second regions can be split, and the boundaries of the second regions are as follows Figure 3 Shown by the dashed line.

[0076] As mentioned above, the station can be determined according to the secondary area with the most parking location points. Based on this, in one embodiment of the present invention, the station corresponding to the first driving route is determined according to the parking location points corresponding to each second area, including: determining the number of parking location points corresponding to each second area as the second index value corresponding to the second area; and determining the station corresponding to the first driving route according to the second area corresponding to the maximum second index value.

[0077] The area with the most parking spots has the most number of passengers getting on and off the bus in this area, and the probability of passengers getting on and off the bus in this area is the highest. This embodiment determines the station based on the secondary area with the most parking spots, which meets the needs of passengers and provides a good passenger experience.

[0078] The determined stations can be used as fixed stations for the driverless vehicle during the driverless driving process. The driverless vehicle can perform a parking operation when it drives to the fixed stations so that passengers can get on and off at the fixed stations.

[0079] When the line length of the second area corresponding to the maximum second index value is long, part or all of the area can be taken as the fixed site area. When the line length of the second area corresponding to the maximum second index value is short (for example, 1m), the second area can be directly used as the fixed site area.

[0080] Based on this, in one embodiment of the present invention, the vehicle is an unmanned vehicle, and the second area corresponding to the maximum second index value is a fixed station area of ​​the unmanned vehicle.

[0081] According to the stations determined in this embodiment, a parking plan for the vehicle in the park can be determined. In the parking plan, the intelligent docking system can control the driverless vehicle to stop when it drives to the determined station. This parking operation can usually meet the needs of most passengers for boarding and alighting locations.

[0082] In the process of the vehicle driving along the circular path, the driving data generated may include not only the parking position of the vehicle but also the driving trajectory of the vehicle, which can be obtained based on the positioning data collected in real time by the positioning module of the vehicle during the driving process of the vehicle. According to the driving trajectory of the vehicle, the driving plan of the vehicle in the park can be determined.

[0083] Based on this, in one embodiment of the present invention, the driving data includes a driving trajectory for representing the path actually driven by the vehicle based on the cycle path, and the method also includes: determining the driving and parking plan of the vehicle in the park based on the driving trajectory and the station.

[0084] It is feasible to fit the driving trajectory formed by the vehicle driving along the circular path multiple times to obtain a circular driving route, which reflects the vehicle's commonly used driving route. The intelligent docking system can control the vehicle to drive along the circular driving route in the park.

[0085] To facilitate further understanding of the technical implementation and technical effects of this solution, the information interaction between the vehicle and the intelligent docking system is explained below.

[0086]

[0066] Feasibly, based on the fixed sites determined in this embodiment, the shuttle buses used in the park may preferably be unmanned shuttle buses.

[0087] Please refer to Figure 2 The driverless shuttle can maintain communication connection with the intelligent docking system, for example, through 4G / 5G network. The intelligent docking system can be deployed on the server. Based on the control of the driverless shuttle by the intelligent docking system, the vehicle can be driven unmanned on the circular path and stop at various stations for passengers to get on and off.

[0088] Feasibly, unmanned vehicles can automatically drive along the specified circular route on the closed roads within the park by receiving route instructions issued by the intelligent docking system, record the driving trajectory data, and synchronize the recorded trajectory data to the intelligent docking system for processing and storage by the intelligent docking system.

[0089] For data processing, for example, the intelligent docking system can determine whether the vehicle has traveled to a fixed site based on the data reported by the vehicle.

[0090] Based on the above content, in one embodiment of the present invention, after determining each station on the loop path, the driving and parking operations of the unmanned vehicle can be controlled according to these stations. For example, the driving position of the unmanned shuttle on the loop path can be obtained; according to the driving position, when it is determined that the unmanned shuttle has driven to the station, the unmanned shuttle is controlled to perform a parking operation.

[0091] In this embodiment, the vehicle position can be obtained in real time. Combined with the obtained real-time driving position and the determined fixed stations, if it is determined that the vehicle has reached the location of any station, the vehicle can be controlled to stop and the door opening and closing operations can be performed in sequence.

[0092] In this embodiment, a preset circular path pre-planned in a certain area is used as a fixed route, and a number of preset fixed stations can be planned throughout the route as passenger boarding and alighting points.

[0093] This embodiment uses unmanned vehicles as carriers and fixed routes and fixed stations as micro-circulation automatic driving routes, which can meet the docking needs of fixed routes and fixed stations in the region (such as in a scenic area), and can achieve green micro-circulation through the safe and efficient operation of unmanned vehicles, thereby providing good unmanned vehicle micro-circulation docking services for passengers traveling or sightseeing in the region.

[0094] Compared with the manual driving docking solution, this embodiment may have the following characteristics:

[0095] 1) The manual driving shuttle solution requires a fixed driver to drive the vehicle, which has high labor costs. However, this embodiment can be applied to unmanned shuttle vehicles, which has low labor costs.

[0096] 2) The manual driving shuttle solution is not environmentally friendly and has a large carbon emission, while this embodiment can be applied to unmanned shuttle buses to achieve low-carbon and energy-saving travel with good environmental protection effects.

[0097] 3) The docking service time of the manual driving docking solution cannot be guaranteed, but this embodiment can be applied to unmanned shuttle buses, and the docking service time is more accurate.

[0098] 4) The passenger riding experience of the manually driven shuttle solution is poor, while this embodiment can be applied to an unmanned shuttle bus to provide a better passenger riding experience.

[0099] It is feasible that the vehicle can generate corresponding driving data during driving, and the driving data can be reported to the intelligent docking system. Based on the driving data, after data processing, the loop path and the parking position of the vehicle on the loop path can be obtained, and the obtained two pieces of information are used to determine each station of the loop path.

[0100] According to a series of positioning data of the vehicle during driving, the driving trajectory of the vehicle can be fitted. Based on this, in one embodiment of the present invention, the method further includes: obtaining the driving trajectory of the vehicle according to the parking position points in the driving data. Figure 2 The vehicle may be driven in a circular path (as shown in the circular path) for multiple times, and each circular drive may form a driving track for the circular driving road. These driving tracks may be processed, such as by fitting these driving tracks, to obtain a circular driving route of the driverless vehicle.

[0101] It can be seen that this embodiment can collect the driving data of one or more vehicles in advance, determine the fixed site according to the driving data, and then realize the automatic driving control of the unmanned vehicle based on the determined fixed site.

[0102] The parking location can be determined by: During the driving process, the driver of a manually driven vehicle can stop the vehicle as needed to allow passengers to get on and off, and this parking operation can generate a corresponding parking location. For an autonomous vehicle, the autonomous vehicle can park by receiving parking instructions from the vehicle safety officer and by recognizing the action of roadside passengers waving and requesting to upload.

[0103] Optionally, for manually driven vehicles, the process of stopping the vehicle for passengers to board and exit the vehicle can be controlled by the driver.

[0104] It is feasible that for an autonomous vehicle, the parking process for passengers to get on and off the vehicle can be a pre-set fixed process. For example, the vehicle can be controlled to stop according to a parking command to keep the vehicle stationary, and after the vehicle is stationary, the door opening command is executed to open the door. The parking time during the door opening and closing can be fixed to a certain time period, such as 1 minute, after which the door closing command can be executed to close the door, and then the vehicle can continue to drive.

[0105] For any type of vehicle, after the vehicle door is closed, the vehicle can record corresponding driving data, which may include parking data (such as data indicating whether the vehicle is parked), parking time, door opening and closing operation data, current vehicle location data, etc. The driving data can be uploaded to the intelligent docking system for synchronization, and the intelligent docking system performs data processing and data storage.

[0106] Feasibly, the parking location can be limited to meet the following conditions: the parking time of the vehicle is a predetermined time (or exceeds the predetermined time), which may be 1 minute; during the parking process, the vehicle is stationary to ensure that the vehicle is stationary when someone gets on or off the vehicle; after the vehicle is parked, the door is opened and closed in sequence.

[0107] If any of the above conditions is not met, it can be considered that there is no corresponding parking location point. For example, if the car is only parked but the door is not opened or closed (such as temporary parking), it can be considered that there is no corresponding parking location point. For another example, if the parking time is short after parking, it can also be considered that there is no corresponding parking location point. In this case, even if someone gets on and off the car, but the number of people getting on and off is small, resulting in a short parking time, then the location point is an inefficient parking point and may not be counted as a parking location point to determine the site. In this way, not only can the data processing pressure be reduced, but the accuracy of the site can also be improved.

[0108] Based on this, in one embodiment of the present invention, the parking position of the vehicle can be obtained according to the driving data generated during at least one cycle of driving of the vehicle. For example, for each parking position of the vehicle recorded in the driving data, it is determined whether the position satisfies a pre-set condition according to other data corresponding to the position recorded in the driving data, and if the condition is satisfied, the position is determined as a parking position.

[0109] The condition may include at least one of the following conditions: the parking time exceeds a time threshold, the vehicle is stationary when the vehicle is parked, and there is a door opening and closing operation after the vehicle is parked.

[0110] It can be seen from the above that this embodiment can achieve accurate determination of the parking position point.

[0111] Since the number of passengers getting on and off the bus is usually positively correlated with the parking duration, the more passengers there are, the greater the demand for the corresponding station. Therefore, the number of parking locations can be determined based on the parking duration and the mapping relationship between the parking duration and the number of passengers getting on and off the bus. In this case, if multiple parking locations are determined based on one parking duration, the locations of these parking locations are the same, and one parking location can indicate that a passenger gets on and off the bus at the corresponding location.

[0112] Since this embodiment can also consider the impact of the number of passengers on the site demand, the sites determined accordingly can meet the passenger demand.

[0113] In one embodiment of the present invention, the method may further include: determining a recommended parking point based on the parking location points corresponding to the first driving route, wherein the parking location point density index value of the range corresponding to the recommended parking point is not less than the parking location point density index value of other ranges; then determining whether the distance between the recommended parking point and any determined site is greater than a corresponding threshold value, if so, it means that the distance between the recommended parking point and the existing sites is far, and the recommended parking point is consistent with the passenger's demand for the site, then the recommended parking point can also be determined as a site, otherwise it will not be determined as a site to avoid duplication of site settings, that is, to avoid arranging inefficient sites.

[0114] It is feasible to process the parking location points corresponding to the first driving route through a clustering algorithm to obtain various clustering ranges, and one clustering range can obtain a recommended parking point.

[0115] Based on the above, please refer to Figure 4 The microcirculation intelligent connection implementation process of this embodiment can be described as follows:

[0116] 401. Set a preset route

[0117] Plan the route map that the driverless vehicle needs to travel. Taking the park as an example, the route map is the route map corresponding to the vehicle connection road in the map area, so that the vehicle can travel on the park road based on the route map.

[0118] 402. Driving tracking (N times of driving tracking, N ≥ 1)

[0119] Start the driverless car to drive along the preset route, stop according to the needs of passengers during driving, and record the driving trajectory data and parking point data simultaneously. Drive the vehicle along the preset route multiple times and collect data.

[0120] 403, Learning by Following Traces

[0121] When the route and stations are initially set through tracking within the predetermined range, the vehicle can automatically drive through multiple rounds of tracking learning and correct the driving route.

[0122] 404, line generation

[0123] Combine the data from multiple tracking learnings to generate a cyclic path.

[0124] 405, Site Generation

[0125] Combine the data results of multiple parking spot identifications to generate fixed sites.

[0126] 406, Intelligent Connection

[0127] The driverless vehicle receives instructions from the intelligent docking system and carries out microcirculation docking services.

[0128] Based on the above, please refer to Figure 5 The system capable of realizing the intelligent docking function may include an unmanned vehicle 51, an intelligent docking system 52 and a server 53, and the intelligent docking system 52 may be arranged on the server 53.

[0129] Please refer to Figure 5 The system can perform the following operations: microcirculation line management (525), vehicle history trajectory management (522), fixed site management (527), unmanned vehicle intelligent interconnection management (521), fixed route generation (523), fixed site generation (524), and data storage management (526).

[0130] For microcirculation line management (525): the corresponding functional module in the intelligent docking system 52 can mainly manage the set fixed circulation lines used to realize the microcirculation docking of the driverless vehicle 51. The functional module can also support the fixed line data output by the fixed line generation module in the synchronization intelligent docking system 52, and can support the addition and deletion of fixed line data. Taking the park as an example, it supports multiple fixed lines in one park.

[0131] Regarding vehicle historical trajectory management (522): the corresponding functional module in the intelligent docking system 52 can mainly record the trajectory data of the unmanned vehicle 51 during the driving process.

[0132] For fixed site management (527): the corresponding functional module in the intelligent docking system 52 can mainly manage the set fixed sites used to realize the micro-circulation docking of the unmanned vehicle 51. The functional module can also support the fixed site data output by the fixed site generation module in the synchronous intelligent docking system 52, and support multiple fixed sites for one route.

[0133] For the intelligent interconnection management of unmanned vehicles (521): the corresponding functional modules in the intelligent docking system 52 can mainly manage and control the unmanned vehicle 51. Taking the park as an example, it supports multiple vehicles in one park and multiple fixed routes for one vehicle.

[0134] For fixed route generation (523): the corresponding functional module in the intelligent docking system 52 can mainly learn the data of the unmanned vehicle traveling along the preset route through machine learning, and intelligently generate a fixed route for microcirculation docking, so that the generated fixed route can be synchronously put on the microcirculation route management functional module in the intelligent docking system 52.

[0135] For fixed site generation (524): the corresponding functional module in the intelligent docking system 52 can mainly process and analyze the parking point data, define the fixed site location, and synchronously put the defined fixed site on the fixed site management functional module in the intelligent docking system 52.

[0136] Regarding data storage management (526): the corresponding functional modules in the intelligent docking system 52 can mainly record and store various data of the microcirculation docking system, providing data support for the intelligent docking application.

[0137] Please refer to Figure 5, the driverless car 51 can sequentially perform a series of operations including starting (511), driving (512), parking (513) and ending (514). Based on the communication connection between the driverless car 51 and the intelligent docking system 52, the intelligent docking system 52 can perform specific functions based on the driving data of the driverless car 51, such as managing the vehicle's historical trajectory, and managing and controlling the driving conditions of the driverless car 51.

[0138] Please refer to Figure 5 Based on the data storage management function of the intelligent docking system 52, the server 53 can perform data storage (531) operations, such as synchronizing data to the server 53, and can perform data reading (532) operations, such as reading data managed and stored by the intelligent docking system 52.

[0139] Based on the method provided in this embodiment, intelligent docking of unmanned shuttle buses can be realized, which is more advanced, safe, low-carbon and environmentally friendly than manual driving. The stations can be accurately determined, and the determined stations can better adapt to the docking needs of microcirculation, which can effectively improve the profit margin of resources, save resources and save costs; unmanned shuttle buses can be intelligently managed, which can effectively improve the intelligence level of vehicle management and services, and realize travel services with better safety, comfort and experience.

[0140] like Figure 6 As shown, an embodiment of the present invention provides a site determination device 10, including a first acquisition module 11, a second acquisition module 12, a first determination module 13, a third acquisition module 14, and a second determination module 15.

[0141] The first acquisition module 11 is used to obtain driving data generated by the vehicle driving on a circular path in the park, wherein the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; the second acquisition module 12 is used to obtain multiple first driving routes, and the multiple first driving routes are connected to form a circular path; the first determination module 13 is used to determine a preliminary position point of the first driving route for each first driving route according to the parking position point corresponding to the first driving route; the third acquisition module 14 is used to obtain at least two mutually continuous second areas divided on the first driving route, wherein the preliminary position point is located in one of the multiple second areas; the second determination module 15 is used to determine the station corresponding to the first driving route according to the parking position point corresponding to each second area.

[0142] This embodiment determines the stops of the driving route according to the parking locations corresponding to the driving route and in accordance with specific rules. The determined stops meet the needs of passengers, and the passengers have a better riding experience.

[0143] In one embodiment of the present invention, the first determination module 13 is used to obtain, for each parking position point corresponding to the first driving route, the distance between the parking position point and each other parking position point corresponding to the first driving route, and to use the sum of the determined multiple distances as the first index value of the corresponding parking position point; and to use the parking position point corresponding to the minimum first index value as the preliminary position point of the first driving route.

[0144] In one embodiment of the present invention, the third acquisition module 14 is used to perform an area division operation on the first driving route according to the first driving route, the preliminary position point, and the preset first length to obtain at least two second areas; wherein the midpoints of the routes corresponding to the at least two second areas are the preliminary position points; and the driving route length of the second area is the first length.

[0145] In one embodiment of the present invention, the second determination module 15 is used to determine the number of parking locations corresponding to each second area as the second index value corresponding to the second area; and determine the station corresponding to the first driving route according to the second area corresponding to the maximum second index value.

[0146] In one embodiment of the present invention, the vehicle is an unmanned vehicle, and the second area corresponding to the maximum second index value is a fixed station area of ​​the unmanned vehicle.

[0147] In one embodiment of the present invention, the driving data includes a driving trajectory for representing the path actually driven by the vehicle based on the cycle path, and the station determination device 10 also includes a module for determining the driving and parking plan of the vehicle in the park based on the driving trajectory and the station.

[0148] An embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory is used to store program instructions, and the processor is used to execute the program instructions to implement a method as described in any of the above method embodiments.

[0149] An embodiment of the present invention also provides an unmanned shuttle system, comprising: a control module, and the above-mentioned site determination device or the above-mentioned electronic device; the control module is used to obtain the driving position of the unmanned shuttle vehicle on the circulation path; based on the driving position, when it is determined that the unmanned shuttle vehicle has driven to any site determined by the site determination device or the electronic device, the unmanned shuttle vehicle is controlled to perform a parking operation.

[0150] The electronic device may be a server, and the control module may be a built-in module in the electronic device. The specific implementation of this embodiment may refer to the relevant description in the above method embodiment, and this embodiment will not be described in detail here.

[0151] An embodiment of the present invention further provides a computer-readable storage medium, on which program instructions are stored. When the program instructions are executed by a processor, a method as in any of the above method embodiments is implemented.

[0152] Figure 7 A schematic diagram of a computer device provided by an embodiment of the present invention. Figure 7 As shown, the computer device 20 of this embodiment includes: a processor 21 and a memory 22, the memory 22 is used to store a computer program 23 that can be run on the processor 21, and the computer program 23 is executed by the processor 21 to implement the steps in the method embodiment of the present invention, to avoid repetition, it is not described one by one here. Alternatively, when the computer program 23 is executed by the processor 21, it implements the functions of each model / unit in the device embodiment of the present invention, to avoid repetition, it is not described one by one here.

[0153] The computer device 20 includes but is not limited to a processor 21 and a memory 22. Those skilled in the art will appreciate that Figure 7 It is only an example of the computer device 20 and does not constitute a limitation of the computer device 20. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0154] The processor 21 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0155] The memory 22 may be an internal storage unit of the computer device 20, such as a hard disk or memory of the computer device 20. The memory 22 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a Smart Media (SM) card, a Secure Digital (SD) card, a Flash Card, etc. equipped on the computer device 20. Further, the memory 22 may also include both an internal storage unit of the computer device 20 and an external storage device. The memory 22 is used to store the computer program 23 and other programs and data required by the computer device. The memory 22 may also be used to temporarily store data that has been output or is to be output.

[0156] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0157] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0160] The integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0161] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A site determination method, characterized in that: include: Obtaining driving data generated by a vehicle driving on a circular path in a park, wherein the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; Obtaining the parking position of the vehicle according to driving data generated during at least one cyclic driving of the vehicle; Acquire a plurality of first driving routes, wherein the plurality of first driving routes are connected to form a loop path; For each of the first driving routes, determining a preliminary location point of the first driving route according to a parking location point corresponding to the first driving route; Acquire at least two mutually continuous second areas divided on the first driving route, wherein the preliminary position point is located in one of the plurality of second areas; Determining a stop corresponding to the first driving route according to each parking location point corresponding to the second area; The method further comprises: Determining a recommended parking point according to the parking position points corresponding to the first driving route, wherein the parking position point density index value of the range corresponding to the recommended parking point is not less than the parking position point density index values ​​of other ranges; Determining whether the distance between the recommended parking spot and each of the sites is greater than a distance threshold; If the distance between the recommended parking point and each of the stations is greater than a distance threshold, the recommended parking point is determined to be a station.

2. The method according to claim 1, characterized in that The determining the preliminary position point of the first driving route according to the parking position point corresponding to the first driving route includes: For each parking location point corresponding to the first driving route, obtaining the distance between the parking location point and each other parking location point corresponding to the first driving route, and taking the sum of the determined multiple distances as the first index value corresponding to the parking location point; The parking position point corresponding to the minimum first index value is used as the preliminary position point of the first driving route.

3. The method according to claim 1, characterized in that The acquiring at least two mutually continuous second areas divided on the first driving route includes: According to the first driving route, the preliminary location point, and the preset first length, performing an area division operation on the first driving route to obtain at least two second areas; Wherein, the midpoint of the routes corresponding to the at least two second areas is the preliminary location point; The length of the driving route in the second area is the first length.

4. The method according to claim 1, characterized in that The step of determining a stop corresponding to the first driving route according to each parking location point corresponding to the second area includes: Determine the number of parking location points corresponding to each of the second areas as a second index value corresponding to the second areas; A station corresponding to the first driving route is determined according to the second area corresponding to the maximum second index value.

5. The method according to claim 4, characterized in that The vehicle is an unmanned vehicle, and the second area corresponding to the maximum second index value is a fixed station area of ​​the unmanned vehicle.

6. The method according to claim 1, characterized in that The driving data includes a driving trajectory for representing a path actually driven by the vehicle based on the cycle path, and the method further includes: A driving and parking plan for the vehicle in the park is determined based on the driving trajectory and the site.

7. A site determination device, characterized in that: include: A first acquisition module is used to obtain driving data generated by a vehicle driving on a circular path in a park, wherein the driving data includes a parking position point when the vehicle performs a parking operation based on at least one of a received instruction and a perception result during driving; Obtaining the parking position of the vehicle according to driving data generated during at least one cyclic driving of the vehicle; A second acquisition module is used to acquire a plurality of first driving routes, wherein the plurality of first driving routes are connected to form a loop path; A first determining module, configured to determine, for each of the first driving routes, a preliminary position point of the first driving route according to a parking position point corresponding to the first driving route; A third acquisition module is used to acquire at least two mutually continuous second areas divided on the first driving route, wherein the preliminary position point is located in one of the plurality of second areas; A second determining module, configured to determine a stop corresponding to the first driving route according to each parking location point corresponding to the second area; The device also includes: Determining a recommended parking point according to the parking position points corresponding to the first driving route, wherein the parking position point density index value of the range corresponding to the recommended parking point is not less than the parking position point density index values ​​of other ranges; Determining whether the distance between the recommended parking spot and each of the sites is greater than a distance threshold; If the distance between the recommended parking point and each of the stations is greater than a distance threshold, the recommended parking point is determined to be a station.

8. An electronic device, comprising a processor and a memory, wherein the memory is used to store program instructions, and the processor is used to execute the program instructions to implement the method according to any one of claims 1 to 6.

9. An unmanned docking system, characterized in that: include: A control module, and the site determination device according to claim 7 or the electronic device according to claim 8; The control module is used to obtain the driving position of the unmanned shuttle vehicle on the circulation path; According to the driving position, when it is determined that the unmanned shuttle vehicle has driven to any station determined by the station determination device or the electronic device, the unmanned shuttle vehicle is controlled to perform a parking operation.

10. A computer-readable storage medium storing program instructions, wherein the program instructions implement the method according to any one of claims 1 to 6 when executed by a processor.

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