Control method, device, electronic device and storage medium for unmanned vehicle

Abstract

The embodiment of the present invention discloses a control method, device, electronic device and storage medium for an unmanned vehicle. The method comprises: receiving first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information comprises at least: the starting position of each passenger and the target position of each passenger; determining the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information; sending the driving route to the target unmanned vehicle so that the target unmanned vehicle travels according to the driving route. The method of the embodiment of the present invention can plan a reasonable driving route for multiple passengers according to the reservation information of multiple passengers, and realize fast and efficient point-to-point pick-up and drop-off services for multiple passengers. And the unmanned vehicle suitable for carrying multiple passengers can be determined according to the reservation information, thereby improving the user experience.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle control, and in particular to a control method, device, electronic device and storage medium for an unmanned vehicle. Background Art

[0002] In recent years, with the development of science and technology, driverless cars have become a hot topic of concern. Driverless cars include driverless commuter buses, which usually run on fixed routes and fixed times, and are suitable for employees to go to and from get off work or children to and from work.

[0003] Existing driverless vehicles generally determine the driving route of passengers based on the passenger's booking information. However, this method is generally for fixed types of driverless vehicles, such as driverless taxis and driverless buses. The driving route of the vehicle determined by this method is not flexible enough and is not suitable for point-to-point driverless commuter buses that carry multiple people at the same time. Summary of the invention

[0004] The present invention provides a route planning method, device, electronic equipment and storage medium, which can plan a reasonable and accurate driving route for multiple passengers.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling an unmanned vehicle, the method comprising:

[0006] Receiving first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location of each passenger and a target location of each passenger;

[0007] Determine the driving route of each passenger and the target driverless vehicle of each passenger according to each ride reservation information;

[0008] The driving route is sent to the target unmanned vehicle so that the target unmanned vehicle travels according to the driving route.

[0009] In a second aspect, an embodiment of the present invention further provides a control device for an unmanned vehicle, the device comprising:

[0010] An information receiving module, used to receive first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location of each passenger and a target location of each passenger;

[0011] An information determination module, used to determine the driving route of each passenger and the target unmanned vehicle of each passenger according to each ride reservation information;

[0012] The information sending module is used to send the driving route to the target unmanned vehicle so that the target unmanned vehicle travels according to the driving route.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0014] one or more processors;

[0015] A memory for storing one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the unmanned vehicle provided by any embodiment of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for an unmanned vehicle as provided in any embodiment of the present invention.

[0018] In an embodiment of the present invention, first reservation information sent by at least one passenger through a client within a predetermined time period can be received; wherein the first reservation information at least includes: the starting position of each passenger and the target position of each passenger; the driving route of each passenger and the target unmanned vehicle of each passenger are determined according to the first reservation information; the driving route is sent to the target unmanned vehicle, so that the target unmanned vehicle travels according to the driving route. That is, in an embodiment of the present invention, a reasonable driving route can be planned for multiple passengers based on the reservation information of multiple passengers, so as to realize fast and efficient point-to-point pick-up and drop-off services for multiple passengers. And the unmanned vehicle suitable for carrying multiple passengers can be determined based on the reservation information, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a control method for an unmanned vehicle provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of the structure of a method for controlling the driving of a target unmanned vehicle provided by an embodiment of the present invention;

[0021] Figure 3 is another flow chart of a method for controlling an unmanned vehicle provided by an embodiment of the present invention;

[0022] Figure 4 is a schematic structural diagram of a control device for an unmanned vehicle provided by an embodiment of the present invention;

[0023] Figure 5It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0025] Figure 1 is a flow chart of a control method for an unmanned vehicle provided by an embodiment of the present invention. The method of this embodiment can plan a reasonable and accurate driving route for multiple passengers. The method can be executed by a control device for an unmanned vehicle in an embodiment of the present invention. The device can be integrated in an electronic device, and the electronic device can be a server. The method can be implemented in software and / or hardware. The control method for an unmanned vehicle provided by this embodiment specifically includes the following steps:

[0026] Step 101: receiving first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location of each passenger and a target location of each passenger.

[0027] The client can be a mobile phone, tablet computer, laptop computer and other devices. The scheduled time period is a certain time period before the unmanned vehicle travels according to specific needs and actual environment. The first reservation information is the car booking information initiated by the passenger through the client within the scheduled time period according to his own needs. The first reservation information includes the starting location, target location, ride time and number of passengers of each passenger.

[0028] Specifically, after receiving the first reservation information of each passenger, the client sends the first reservation information to the server. The server can receive the first reservation information sent by the client. For example, before 23:59 (predetermined time period) on the day before the driverless vehicle travels, 10 passengers fill in the first reservation information through the client. Then the server can receive the first reservation information of the 10 passengers sent by the client after 23:59.

[0029] Step 102: Determine the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information.

[0030] Among them, the driving route of each passenger is the driving route of the driverless vehicle that the passenger needs to take. In this solution, the driverless vehicle can be a driverless commuter bus, and the driving route of each passenger is the driving route of the same driverless commuter bus that multiple passengers take. The driving route includes each passenger's boarding position (the starting point of the driverless vehicle), the disembarkation position (the starting point of the driverless vehicle), and the driving path of the driverless vehicle from the boarding position to the disembarkation position. The target driverless vehicle is the driverless vehicle that the passenger needs to take. The first reservation information includes the starting position and target position of each passenger. Since the starting positions of each passenger may be different, in order to facilitate passengers to board the vehicle, it is necessary to select a boarding position suitable for each passenger based on the starting position of each passenger.

[0031] Specifically, when there are multiple different starting positions in the first reservation information received by the server, the server can determine a boarding position that has unobstructed paths to the different starting positions and is located in the middle of the different starting positions based on the pre-stored map information. Similarly, when there are multiple different target positions in the first reservation information received by the server, the server can determine a disembarkation position that has unobstructed paths to the different target positions and is located in the middle of the different target positions based on the pre-stored map information. After determining the boarding and disembarkation positions of each passenger, the server can determine the driving path of the unmanned vehicle from the boarding position to the disembarkation position based on the boarding and disembarkation positions based on the pre-stored map information.

[0032] Specifically, the first reservation information received by the server in each preset time period may be different, so the number of passengers determined by the server based on the first reservation information may change each time. Furthermore, a suitable driverless vehicle can be selected as the target driverless vehicle based on the number of passengers. For example, on weekdays from Monday to Friday, there may be many people who make reservations for driverless commuter buses through the client. During the weekends, there are relatively few people who make reservations for driverless commuter buses through the client. Therefore, during weekdays, large driverless buses with a large number of passengers can be used as target driverless vehicles. During the weekends, small driverless buses with a small number of passengers can be used as target driverless vehicles.

[0033] Specifically, the starting position and target position in the first reservation information received within each preset time period are also different, and the boarding position and alighting position determined by the server based on the starting position and the target position will also change accordingly. Therefore, the driving route determined by the server based on the first reservation information will also change. When the distance between the boarding position and the alighting position is far, the length of the driving route will also be longer. At this time, an unmanned bus with a longer single mileage can be selected as the target unmanned vehicle. When the distance between the boarding position and the alighting position is close, the length of the driving route will be shorter. At this time, an unmanned bus with a shorter single mileage can be selected as the target unmanned vehicle.

[0034] Step 103: Send the driving route to the target unmanned vehicle, so that the target unmanned vehicle drives according to the driving route.

[0035] After determining the driving route and the target unmanned vehicle, the server can send the driving route to the controller of the target unmanned vehicle. After receiving the driving route sent by the server, the target unmanned vehicle controller can control the unmanned vehicle to travel and pick up passengers according to the driving route.

[0036] Figure 2 Schematic diagram of the structure of the method for controlling the driving of a target unmanned vehicle provided by an embodiment of the present invention. Figure 2 As shown, passengers can set common addresses and fill in reservation information through the client. After receiving the passenger's reservation information, the client can display relevant map information, the passenger's boarding location, and the passenger's ride path to the boarding location for the passenger. The server can receive the passenger's reservation information and store the passenger information based on the reservation information. Determine the ride route and the target unmanned vehicle based on the passenger information, and obtain the road condition information of the route. Among them, the passenger information includes the passenger's starting location, target location, and number of companions. The unmanned vehicle controller can run the various software modules required for autonomous driving to control the normal driving of the unmanned vehicle. The unmanned vehicle controller can receive the driving route sent by the server and control the target unmanned vehicle to drive according to the driving route.

[0037] The technical solution of this embodiment can receive the first reservation information sent by at least one passenger through the client within a predetermined time period; wherein the first reservation information includes at least: the starting position of each passenger and the target position of each passenger; determine the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information; send the driving route to the target unmanned vehicle, so that the target unmanned vehicle travels according to the driving route. The technical solution of this embodiment can plan a reasonable driving route for multiple passengers based on the reservation information of multiple passengers, and realize fast and efficient point-to-point pick-up and drop-off services for multiple passengers. And the unmanned vehicle suitable for carrying multiple passengers can be determined based on the reservation information, which improves the user experience.

[0038] Figure 3 is another flow chart of a control method for an unmanned vehicle provided by an embodiment of the present invention. This embodiment further refines the control method for an unmanned vehicle, such as Figure 3 As shown, the refined control method of the unmanned vehicle mainly includes the following steps:

[0039] Step 201: Receive first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location and a target location of each passenger.

[0040] Step 202: Determine the boarding position and alighting position of each passenger according to the starting position and target position of each passenger.

[0041] Among them, the starting position of each passenger is the starting point of each passenger. The target position of each passenger is the location that each passenger needs to reach. The boarding position of each passenger is the boarding point of each passenger, that is, the starting point of the unmanned vehicle. The alighting position of each passenger is the alighting point of each passenger, that is, the end point of the unmanned vehicle. The starting positions of each passenger may be different, but their boarding positions are the same. Therefore, in order to facilitate each passenger to board the vehicle, the boarding point can be determined according to the starting position of each passenger.

[0042] Specifically, when the first reservation information received by the server contains multiple different starting locations, the server can determine a boarding location that has unobstructed paths to different starting locations and is located between different starting locations based on the pre-stored map information. For example, assuming that the coordinates of the passenger's starting location in the map are A(x 1 ,y 1 ), the coordinates of the passenger's boarding location on the map are B(x 2 ,y 2 ). The distance between A and B |AB| is calculated as:

[0043]

[0044] When |AB| is greater than a preset threshold, it can be determined that the path between the passenger's starting position and the boarding position is unobstructed. Further, combined with the high-precision map stored in the server, it is determined that there is an unobstructed path to each passenger's starting position, and the boarding position is located in the middle of each passenger's starting position. Similarly, the above method is used to determine that there is an unobstructed path to each passenger's target position, and the boarding position is located in the middle of each passenger's target position.

[0045] Step 203: Determine the driving route according to the boarding location and the alighting location.

[0046] The driving route is the best driving route from the boarding position to the alighting position of the driverless vehicle to be boarded by the passengers. Specifically, after the boarding position and the alighting position are determined, the best driving route from the boarding position to the alighting position of the driverless vehicle can be determined according to the path search algorithm in combination with the pre-stored map information. The best driving route includes the route with the shortest distance and / or the shortest time and / or the least red lights. The path search algorithm includes the Dijkstra algorithm and the heuristic search algorithm.

[0047] Specifically, using the Dijkstra algorithm to determine the best driving route includes the following steps:

[0048] Step 1): Consider all forks in the map as a point, the path between every two forks as an edge, and the length of the path as the weight of the path.

[0049] Step 2): According to the number of nodes n in the graph, construct an array vertex[] of length n to store the shortest distance between the starting point and each point. Initially, only the first value is 0, and the other values ​​are Integer.MAX_VALUE (the integer part of the maximum distance between each point value);

[0050] Step 3): Construct a priority queue array inqueue[] to record the node information that has been calculated;

[0051] Step 4): Select a node with the minimum path value from vertex[] that is not stored in inqueue, and calculate the path length of the next node that can be reached based on this node. If the calculated path length of the next node is smaller than the path length recorded in vertex, then use this path to replace the path with the larger length, otherwise do not replace it;

[0052] Step 5): Continue to repeat step 4) until the end point (get-off location) enters the inqueue, or until all nodes enter the inqueue.

[0053] The use of heuristic search algorithms to determine the best driving route includes the following steps:

[0054] Step 1): Assume that the distance between a certain point (point k) and the starting point (boarding location) is represented by g(k); use the Manhattan distance algorithm to represent the distance from this point to the end point (boarding location) as h(k).

[0055] Step 2): Based on g(k) and h(k), determine an evaluation function: f(k) = g(k) + h(k). Select the next node based on the calculation result of f(k) and further traverse other points in the map.

[0056] Step 3): When the selected node is the end point (get-off location), the traversal ends.

[0057] Step 204: Determine the target driverless vehicle for each passenger according to the first reservation information.

[0058] The target unmanned vehicle is the unmanned vehicle that the passenger needs to take according to the first reservation information. In the embodiment of this solution, optionally, determining the target unmanned vehicle for each passenger according to the first reservation information includes the following steps A1-A2:

[0059] Step A1: According to the first reservation information, the number of travelers on the driving route within the scheduled time period is determined.

[0060] Specifically, the first reservation information filled in by the passenger through the client includes the number of companions selected by the passenger. The total number of travelers in the scheduled time period can be determined based on the number of companions of each passenger. For example, the server receives the first reservation information from 5 clients. In 3 of the first reservation information, the number of companions selected by the passenger is 0 (the default first reservation information of each client is 1 person), and the number of companions in the first reservation information sent by 2 clients is 2. According to the first reservation information, it can be determined that the number of travelers on the driving route in the scheduled time period is 5+2+2=9 people.

[0061] Step A2: Determine the target unmanned vehicle according to the number of travelers on the driving route within a predetermined time period.

[0062] Among them, different types of driverless vehicles have different maximum passenger capacity, maximum single-trip mileage, etc. When there are many people traveling, a large driverless vehicle with a large passenger capacity can be selected as the target driverless vehicle. When there are few people traveling, a small driverless vehicle with a small passenger capacity can be selected as the target driverless vehicle. For example, during weekdays, a large driverless bus with a large passenger capacity can be used as the target driverless vehicle. During weekends, a small driverless bus with a small passenger capacity can be used as the target driverless vehicle.

[0063] Through the above steps, an unmanned vehicle suitable for passengers can be determined according to the number of passengers in the first reservation information, thereby avoiding the use of a large unmanned vehicle when the actual number of passengers is small, or the unmanned vehicle is not large enough to carry passengers, thereby improving the user experience.

[0064] In the embodiment of this solution, optionally, determining the target driverless vehicle for each passenger according to the first reservation information further includes the following steps B1-B2:

[0065] Step B1: Calculate the length of the driving route according to the boarding position and the alighting position in the driving route.

[0066] Specifically, after the boarding and alighting locations are determined, the length of the driving route is calculated based on the map information stored in the server. The length of the driving route can reflect the mileage that the driverless vehicle needs to travel.

[0067] Step B2: Determine the target unmanned vehicle according to the length of the driving route.

[0068] Specifically, after determining the length of the driving route, the mileage that the driverless vehicle needs to travel can be predicted based on the length of the driving route. When the driverless vehicle needs to travel a long mileage, a long-distance driverless bus with a long single mileage can be selected as the target driverless vehicle. When the driverless vehicle needs to travel a short mileage, a short-distance driverless bus with a short single mileage can be selected as the target driverless vehicle. For example, in the scenarios of company team building and short-distance travel, a long-distance driverless bus can be selected as the target driverless vehicle. In the scenario of daily commuting, a short-distance driverless bus can be selected as the target driverless vehicle.

[0069] Through the above steps, a suitable driverless vehicle can be determined according to the length of the driving route, thereby avoiding the situation where the driverless vehicle cannot deliver the passengers to the destination, thereby improving the user experience.

[0070] Step 205: Determine the riding path of each passenger from the starting position to the boarding position according to the starting position and boarding position of each passenger.

[0071] Among them, the boarding position of each passenger is the boarding point of each passenger. Specifically, the starting position of each passenger may be different, but the boarding position is the same. The boarding position is determined based on the starting position of each passenger, and there is an unobstructed path from the boarding position to the starting position of each passenger. Since the starting positions of multiple passengers in each preset time period are different, the boarding positions of each preset time period are also different, and there may be no landmark buildings around the determined boarding position. In order to facilitate passengers to board the bus, after the boarding position is determined, the boarding path of each passenger from the starting position to the boarding position can be determined based on the path search algorithm according to the starting position of each passenger.

[0072] Step 206: Send the riding path of each passenger from the starting position to the boarding position to the client of each passenger.

[0073] Specifically, after determining the riding path of each passenger from the starting position to the boarding position, the corresponding riding path can be sent to the corresponding client. The passenger can check the path information from the starting position to the boarding position in advance through the client.

[0074] Step 207: While the target unmanned vehicle is traveling along the driving route, obtain the road condition information of the driving route at the current time point.

[0075] The road condition information at the current time point includes information such as whether the road is congested, whether there is construction, etc. The road condition information at the current time point may change at any time, such as a traffic accident ahead causing temporary road congestion or impassability. In order to improve the flexibility of the target unmanned vehicle, while the target unmanned vehicle is driving along the route, the server can obtain the road condition information of the route at the current time point through the continuously updated map data.

[0076] Step 208: Update the driving route according to the road condition information; and send the updated driving route to the target unmanned vehicle, so that the target unmanned vehicle travels according to the updated driving route.

[0077] Specifically, after obtaining the road condition information of the driving route at the current time point, the driving route can be updated according to the road condition information. For example, when the target unmanned vehicle is driving normally on the driving route, the road ahead is blocked due to an emergency. After receiving the information that the original driving route is about to be blocked, the server replans a new driving route for the target unmanned vehicle according to the current position of the target unmanned vehicle at the current time point and the target position. After updating the driving route according to the road condition information, the updated driving route is sent to the target unmanned vehicle, so that the target unmanned vehicle drives according to the updated driving route.

[0078] Step 209, receiving second reservation information sent by at least one passenger through the client outside the scheduled time period; determining whether the target unmanned vehicle accepts feedback information on the second reservation information based on the second reservation information and the actual number of passengers in the predetermined target unmanned vehicle; and sending the feedback information to the client corresponding to the second reservation information.

[0079] The second reservation information is the reservation information initiated by the passenger through the client outside the scheduled time period. For example, the scheduled time period is before 23:59 on the day before the target driverless vehicle starts to drive. If a passenger does not fill in the first reservation information through the client within the scheduled time period, but fills in the reservation information one hour before the target driverless vehicle drives the next day, requesting to make an appointment with the target driverless vehicle that starts driving one hour later, then the reservation information sent by the passenger is the second reservation information.

[0080] Specifically, before the target unmanned vehicle travels, it is also possible that a passenger cancels the first reservation information. The server can update the first reservation information in real time outside the predetermined time period to determine the actual number of passengers in the target unmanned vehicle. According to the second reservation information and the actual number of passengers in the target unmanned vehicle, it is determined whether the target unmanned vehicle can accept the second reservation information of the passenger, and the feedback information of whether the target unmanned vehicle can accept the second reservation information of the passenger is sent to the client so that the user can view the feedback information. For example, a passenger fills in the second reservation information one hour before the target unmanned vehicle travels, and the number of passengers in the second reservation information is 1. The actual number of passengers in the target unmanned vehicle determined by the server at this time is 8, and the maximum passenger capacity of the target unmanned vehicle is 10. According to the second reservation information and the actual number of passengers in the target unmanned vehicle, it can be determined that the target unmanned vehicle can accept the second reservation information of the passenger. Further, the server sends feedback information of "reservation successful" to the client.

[0081] The scheme of the embodiment of the present invention receives first reservation information sent by at least one passenger through a client within a predetermined time period. Determine a driving route according to the boarding position and the disembarkation position. Determine the target driverless vehicle for each passenger according to the first reservation information. Determine the riding path for each passenger from the starting position to the boarding position according to the starting position and the boarding position of each passenger. Send the riding path for each passenger from the starting position to the boarding position to the client of each passenger. In the process of the target driverless vehicle traveling along the driving route, obtain the road condition information of the driving route at the current time point. Update the driving route according to the road condition information; and send the updated driving route to the target driverless vehicle, so that the target driverless vehicle travels according to the updated driving route. Receive second reservation information sent by at least one passenger through a client outside the predetermined time period; determine feedback information on whether the target driverless vehicle accepts the second reservation information according to the second reservation information and the number of people actually riding in the predetermined target driverless vehicle; and send the feedback information to the client corresponding to the second reservation information. The scheme of this embodiment can provide suitable driverless vehicles for multiple passengers according to the number of people riding and / or the length of the driving route. During the driving process of the driverless vehicle, the driving route is updated in real time according to the road condition information, which can improve the driving efficiency of the driverless vehicle and deliver passengers to the target location as soon as possible. It can also determine whether to temporarily pick up passengers who have not made reservations in advance based on the actual number of people in the driverless vehicle, thereby improving the user experience.

[0082] Figure 4 1 is a schematic diagram of a control device for an unmanned vehicle provided in an embodiment of the present invention. An embodiment of the present invention provides a control device for an unmanned vehicle, the device comprising:

[0083] The information receiving module 401 is used to receive first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location of each passenger and a target location of each passenger;

[0084] An information determination module 402 is used to determine the driving route of each passenger and the target unmanned vehicle of each passenger according to each ride reservation information;

[0085] The information sending module 403 is used to send the driving route to the target unmanned vehicle so that the target unmanned vehicle travels according to the driving route.

[0086] Optionally, the information determination module 402 is specifically configured to:

[0087] Determine the boarding position and the alighting position of each passenger according to the starting position and the target position of each passenger;

[0088] The driving route is determined according to the boarding position and the alighting position.

[0089] Optionally, the information determination module 402 is further configured to:

[0090] Determine the number of travelers on the driving route within a predetermined time period according to the first reservation information;

[0091] The target unmanned vehicle is determined according to the number of travelers on the driving route within the predetermined time period.

[0092] Optionally, the information determination module 402 is further configured to:

[0093] Calculating the length of the driving route according to the boarding position and the alighting position in the driving route;

[0094] The target unmanned vehicle is determined according to the length of the driving route.

[0095] Optionally, the device is also used for:

[0096] Determining a riding path for each passenger from the starting position to the boarding position according to the starting position of each passenger and the boarding position;

[0097] The riding path of each passenger from the starting position to the boarding position is sent to the client of each passenger.

[0098] Optionally, the device is also used for:

[0099] While the target unmanned vehicle is traveling along the driving route, obtaining road condition information of the driving route at a current time point;

[0100] The driving route is updated according to the road condition information; and the updated driving route is sent to the target unmanned vehicle, so that the target unmanned vehicle travels according to the updated driving route.

[0101] Optionally, the device is also used for:

[0102] Receive second reservation information sent by at least one passenger through a client outside the predetermined time period; determine whether the target unmanned vehicle accepts feedback information of the second reservation information based on the second reservation information and the predetermined number of people actually riding in the target unmanned vehicle; and send the feedback information to the client corresponding to the second reservation information.

[0103] The control device for an unmanned vehicle provided in an embodiment of the present invention can execute the control method for an unmanned vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0104] Figure 5 is a schematic diagram of a structure of an electronic device provided by an embodiment of the present invention, with reference to Figure 5 , which shows a schematic diagram of the structure of a computer system 12 of an electronic device suitable for implementing an embodiment of the present invention. Figure 5 The electronic device shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0105] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0106] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0107] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0108] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0109] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, the electronic device 12 in this embodiment, the display 24 does not exist as an independent individual, but is embedded in the mirror surface. When the display surface of the display 24 is not displayed, the display surface of the display 24 is visually integrated with the mirror surface. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through the bus 18. It should be understood that although Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0110] The processing unit 16 executes various functional applications and controls the unmanned vehicle by running the program stored in the system memory 28, for example, implementing a control method for an unmanned vehicle provided in an embodiment of the present invention: receiving first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information includes at least: the starting position of each passenger and the target position of each passenger; determining the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information; and sending the driving route to the target unmanned vehicle so that the target unmanned vehicle travels according to the driving route.

[0111] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for an unmanned vehicle as provided in all the embodiments of the present invention: receiving first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: the starting position of each passenger and the target position of each passenger; determining the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information; sending the driving route to the target unmanned vehicle, so that the target unmanned vehicle travels according to the driving route. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0112] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0113] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0114] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0115] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A path planning method, characterized in that: The method comprises: Receiving first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location and a target location of each passenger; Determining the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information; determining the driving route according to the first reservation information includes: determining the boarding position and the alighting position of each passenger according to the starting position and the target position of each passenger respectively; determining the driving route according to the boarding position and the alighting position; Determine the riding path of each passenger from the starting position to the boarding position according to the starting position of each passenger and the boarding position; send the riding path of each passenger from the starting position to the boarding position to the client of each passenger; Sending the driving route to the target unmanned vehicle so that the target unmanned vehicle travels according to the driving route; In the process of the target unmanned vehicle traveling along the driving route, obtaining road condition information of the driving route at a current time point; updating the driving route according to the road condition information; and sending the updated driving route to the target unmanned vehicle so that the target unmanned vehicle travels along the updated driving route; the road condition information includes whether a road along the driving route is impassable; Determining the target driverless vehicle for each passenger according to each ride reservation information includes: determining the number of travelers on the driving route within a predetermined time period according to the first reservation information; determining the target driverless vehicle according to the number of travelers on the driving route within the predetermined time period; the target driverless vehicle is a large driverless bus or a small driverless bus; the large driverless bus can carry more people than the small driverless bus; or, Determine the target driverless vehicle for each passenger based on each ride reservation information, including: The length of the driving route is calculated according to the boarding position and the alighting position in the driving route; and the target unmanned vehicle is determined according to the length of the driving route.

2. The method according to claim 1, characterized in that The method further comprises: Receive second reservation information sent by at least one passenger through a client outside the predetermined time period; determine whether the target unmanned vehicle accepts feedback information of the second reservation information based on the second reservation information and the predetermined number of people actually riding in the target unmanned vehicle; and send the feedback information to the client corresponding to the second reservation information.

3. A control device for an unmanned vehicle, characterized in that: The device comprises: An information receiving module, used to receive first reservation information sent by at least one passenger through a client within a predetermined time period; wherein the first reservation information at least includes: a starting location of each passenger and a target location of each passenger; An information determination module, used to determine the driving route of each passenger and the target unmanned vehicle of each passenger according to the first reservation information; Determining the driving route according to the first reservation information includes: determining the boarding position and the alighting position of each passenger according to the starting position and the target position of each passenger; determining the driving route according to the boarding position and the alighting position; Determine the riding path of each passenger from the starting position to the boarding position according to the starting position of each passenger and the boarding position; send the riding path of each passenger from the starting position to the boarding position to the client of each passenger; An information sending module, used for sending the driving route to the target unmanned vehicle, so that the target unmanned vehicle travels according to the driving route; The control device of the unmanned vehicle is also used for: In the process of the target unmanned vehicle traveling along the driving route, obtaining road condition information of the driving route at a current time point; updating the driving route according to the road condition information; and sending the updated driving route to the target unmanned vehicle so that the target unmanned vehicle travels along the updated driving route; the road condition information includes whether a road along the driving route is impassable; Wherein, the information determination module is specifically used for: Determine the number of travelers on the driving route within the predetermined time period according to the first reservation information; determine the target driverless vehicle according to the number of travelers on the driving route within the predetermined time period; the target driverless vehicle is a large driverless bus or a small driverless bus; the large driverless bus can carry more people than the small driverless bus; or, The information determination module is specifically used for: The length of the driving route is calculated according to the boarding position and the alighting position in the driving route; and the target unmanned vehicle is determined according to the length of the driving route.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control method of the unmanned vehicle as described in any one of claims 1 to 2 is implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the unmanned vehicle as described in any one of claims 1-2 is implemented.

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