Vehicle dispatching method with pilot vehicle mixed with self-driving vehicle

Abstract

The invention discloses a vehicle dispatching method for mixing a pilot vehicle with a self-driving vehicle, which adopts a system in which a manned vehicle and an automatic vehicle are mixed, can be imported into the self-driving vehicle and has the characteristic of being capable of operating all day long, so that the operating hours can be prolonged at will, and more service requirements of passenger and cargo carrying, driving safety and the like can be met.

Description

Technical Field

[0001] The present invention is a vehicle dispatching method, especially a vehicle dispatching method using a lead vehicle and self-driving vehicles in combination. Background Art

[0002] In the current market of passenger and freight transportation, most motor vehicle transportation operators use "commercial vehicles" to provide passenger and freight transportation services. The so-called "commercial vehicles" include taxis or multi-functional taxis, which aim at passenger and freight transportation and provide "carrying services" for passenger and freight transportation. For example, when the "commercial dispatch platform" of a commercial vehicle receives an external passenger service demand, it dispatches a vehicle to perform the corresponding "carrying service". This "carrying service" method belongs to a "one-to-one service" of commercial vehicles.

[0003] The aforementioned taxis can be divided into "drivered vehicles" and driverless "autonomous cars" according to whether there is someone to control the driving. Usually, a "drivered vehicle" needs someone to drive and provides services purely manually, so there are limitations of human factors. For example, there are limitations on the working hours of drivers. It is also very likely that due to various factors, or demands for wage increases and strikes, the turnover may even decrease, or there may be no turnover income. Moreover, it is more likely that due to the excessive working hours, the driver's attention is seriously affected, leading to concerns about driving safety. However, due to the high technical threshold of current "autonomous cars" and many environmental condition requirements, if we want to achieve a vehicle dispatching service that uses only "autonomous cars", there are still many problems to be overcome.

[0004] The "carrying service" of commercial vehicles in the current passenger and freight transportation market still belongs to the scope of drivered vehicles. Therefore, there are still the aforementioned issues of limited turnover and driving safety. If the current passenger and freight transportation market can reduce various unexpected road conditions that may occur to "autonomous cars" on the road, and can continuously and effectively maintain the effective operation of passenger and freight transportation, it will be the hope of the current passenger and freight transportation market. Summary of the Invention

[0005] The present invention provides a vehicle dispatching method using a lead vehicle and self-driving vehicles in combination. It adopts a system that combines "drivered vehicles (hereinafter referred to as 'lead vehicles')" with "autonomous cars (hereinafter referred to as'self-driving vehicles')". By introducing the characteristics that "self-driving vehicles" can operate throughout the day for 24 hours, the operating hours can be extended arbitrarily to meet more service requirements such as passenger and freight transportation and driving safety.

[0006] One of the advantages of the vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention is that it adopts a mixed dispatching and operation mode of "pilot vehicle" and "self-driving vehicle", which can increase operation time and efficiency. At the same time, it also introduces an advanced driver assistance system, greatly improving driving safety, as well as vehicle usage efficiency and operation safety, achieving safer transportation.

[0007] One of the advantages of the vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention is that it adopts a mixed dispatching and operation mode of the pilot vehicle and the self-driving vehicle, so it can maintain the advantages of manned driving and quickly eliminate emergencies of the self-driving vehicle.

[0008] One of the advantages of the vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention is an operation mode in which the pilot vehicle leads the self-driving vehicle to provide passenger and cargo services. The pilot vehicle is the main one and the self-driving vehicle is the auxiliary one. The self-driving vehicle is only responsible for station-to-station transportation, and also includes independent low-speed transportation in modes such as station-to-door and door-to-station.

[0009] One of the advantages of the vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention is that by following the pilot vehicle, the self-driving vehicle arrives at the destination and conducts passenger or cargo collection in the form of a distribution station, which is sufficient to cope with the complex and mixed traffic environment in various places and can quickly achieve the purpose of transportation.

[0010] One of the advantages of the vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention is that there is still a driver for driving and controlling for road monitoring, and it can quickly eliminate faults or emergencies of the pilot vehicle or the self-driving vehicle, avoiding traffic congestion or traffic accidents and other impacts on transportation.

[0011] One of the advantages of the vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention is that in the operation mode of the pilot vehicle leading the self-driving vehicle, it combines the unmanned advantages of the self-driving vehicle and the reliable advantages of the pilot vehicle, which can reduce the taxi operation cost by 60%, mainly reducing labor costs, and can increase the monthly operation of each vehicle from 200 hours to 600 hours.

[0012] To further understand the technical content and features of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided herein are for reference and illustration purposes only and are not used to limit the present invention. Description of the Drawings

[0013] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specifically describes the embodiments of the present invention in conjunction with the drawings, wherein:

[0014] Figure 1 The figure shows a configuration diagram of a vehicle dispatching method of combining a pilot vehicle with a self-driving vehicle in the present invention.

[0015] Figure 2 Shown is the three-stage service configuration diagram of the present invention.

[0016] Figure 3 Shown is the "station-to-household" schematic diagram of a vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention.

[0017] Figure 4A Shown is a vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention - "direct station-to-station process".

[0018] Figure 4B Shown is a vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention - "non-direct station-to-station alternative process".

[0019] Figure 5A Shown is a vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention - "direct household-to-household process".

[0020] Figure 5B Shown is a vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention - "non-direct household-to-household alternative process". Detailed implementation manners

[0021] Please refer to the attached drawings for description and narration below, so as to describe the implementation forms of the present invention with schematic diagrams. In the schematic drawings, the same component symbols represent the same components, and for the sake of clear description, the size or thickness of the components may be exaggerated.

[0022] A vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention uses a "lead vehicle" to lead "self-driving vehicles". Therefore, the self-driving vehicles only need to follow the lead vehicle at the rear. The self-driving vehicles only need to have the functions of automatic vehicle following and automatic parking, so as to provide self-driving vehicle transportation services from station to station.

[0023] As Figure 1 Shown is the configuration diagram of a vehicle dispatching method using a lead vehicle and mixed self-driving vehicles according to the present invention, which is illustrated by a simple map. In Figure 1 , one to three self-driving vehicles can be paired with one lead vehicle to drive on the road. A "waiting station" is set at a distance of 300 meters on the road. The waiting station can be used as both a "boarding station" and a "stopping station" at the same time, and a "storage yard" can be set at a distance of three kilometers.

[0024] Again, as Figure 1As shown in the figure, the pilot vehicle can lead more than one self-driving vehicle, and during the leading process, it can be flexibly "connected in series" and "disconnected" according to service requirements, enabling flexible dispatching and diverse vehicle fleet combinations. Here, "connected in series" means that the pilot vehicle connects one or more self-driving vehicles, and "disconnected" means that the pilot vehicle disconnects the one or more self-driving vehicles it has connected.

[0025] As Figure 1 shown in the vehicle dispatching method of the present invention with a pilot vehicle and self-driving vehicles, in Figure 1 it, the "station-to-station" pilot vehicle and self-driving vehicles can be connected in series with each other, and their definitions and steps are as follows.

[0026] (1) First, the code definitions are as follows:

[0027] 10a: The integrated management server of the pilot vehicle and self-driving vehicles 10a, simply referred to as server 10a

[0028] 20a: Passenger 20a

[0029] 30a: The pilot vehicle 30a without leading a self-driving vehicle, simply referred to as pilot vehicle 30a

[0030] 30b: The pilot vehicle 30b that has led a self-driving vehicle with passengers, simply referred to as pilot vehicle 30b

[0031] 30c: The pilot vehicle 30c that has led a self-driving vehicle without passengers, simply referred to as pilot vehicle 30c

[0032] 30d: The pilot vehicle 30d without performing a passenger-carrying task, simply referred to as pilot vehicle 30d

[0033] 30e: The pilot vehicle 30e on the way to pick up passengers, simply referred to as pilot vehicle 30e

[0034] 30f: The pilot vehicle 30f that conforms to the forward route from the intermediate stop to the passenger destination stop and can accept connection in series, simply referred to as pilot vehicle 30f

[0035] 40a: The self-driving vehicle 40a parked at the nearest passenger station to the passenger, simply referred to as self-driving vehicle 40a

[0036] 40b: The self-driving vehicle 40b with passengers, simply referred to as self-driving vehicle 40b

[0037] 40c: The self-driving vehicle 40c without passengers, simply referred to as self-driving vehicle 40c

[0038] 40d: The self-driving vehicle 40d parked at the waiting station, simply referred to as self-driving vehicle 40d

[0039] 40f: The self-driving vehicle 40f parked at the waiting station waiting for dispatching, simply referred to as self-driving vehicle 40f

[0040] 50a: The boarding station 50a closest to the passenger, abbreviated as boarding station 50a

[0041] 50b: The intermediate stop 50b, abbreviated as stop 50b

[0042] 50c: The waiting station 50c to be dispatched, abbreviated as stop 50c

[0043] 50d: The destination stop 50d of the passenger, abbreviated as stop 50d

[0044] For example, in Figure 1 When the passenger 20a transmits a ride service request to the server 10a through a terminal device, such as a mobile phone device, a tablet computer device, a notebook computer device, a smart watch device, via a network communication channel, the server 10a will collect ride information, including the passenger's origin and destination, the position of the self-driving vehicle, the position of the pilot vehicle, the position of the waiting station, the travel time, etc. to form ride information.

[0045] (2) The vehicle dispatching method is as follows:

[0046] (2)-1. The server 10a searches for the number of self-driving vehicles parked at each waiting station. In principle, the upper limit for one station is 2 vehicles. If it exceeds, there will be the following several assignment methods:

[0047] (2)-1-(1). Assign the pilot vehicle 30d to lead the self-driving vehicle 40f in series and park it at the stop 50b.

[0048] (2)-1-(2). Assign the pilot vehicle 30e to lead the self-driving vehicle 40f in series and park it at the stop 50b.

[0049] (2)-1-(3). Assign the pilot vehicle 30b to lead the self-driving vehicle 40f in series and park it at the stop 50b.

[0050] (2)-1-(4). For multiple self-driving vehicle waiting stations and multiple waiting stations, in terms of current technology, the state of the self-driving vehicle may be being led by a pilot, or waiting at the waiting station, or parked in the garage, and there will not be a situation where it runs alone on the road. Among them, the adjacent self-driving vehicle information is the information of multiple self-driving vehicles near the desired boarding location.

[0051] (3) Station-to-station service, such as Figure 2 The following is the three-stage service configuration diagram of the present invention. Here is the second stage of the "station-to-station" service:

[0052] ((3)-1. The passenger 20a transmits a ride service request to the server 10a through a network channel.

[0053] (3)-2. After the server 10a receives the ride service demand, it pairs based on the passenger's location and nearby self-driving car information and selects the boarding station 50a at the best boarding location. At this time, the following multiple situations can be divided:

[0054] (3)-2-(1). When there is already a self-driving car 40a waiting at the boarding station 50a:

[0055] (3)-2-(1)-A. It can directly reach the waiting station 50d:

[0056] (3)-2-(1)-A-a. The server 10a transmits through the network pipeline to the passenger terminal device to notify the passenger 20a that they can directly walk to the boarding station 50a to board the self-driving car 40a. At the same time, the server 10a provides the passenger information and destination information of the self-driving car 40a through the network pipeline.

[0057] (3)-2-(1)-A-b. The server 10a assigns a qualified lead car 30a to go to the boarding station 50a to connect in series with the self-driving car 40a that the passenger 20a has boarded, and the self-driving car 40a follows the lead car 30a to go to the stop 50d.

[0058] (3)-2-(1)-A-c. The self-driving car 40a follows the lead car 30a to reach the stop 50d. The lead car 30a disconnects the self-driving car 40a. The self-driving car 40a notifies the server 10a of its arrival information. The server 10a transmits the getting-off message to the passenger terminal device and the self-driving car 40a, and the self-driving car 40a plays a reminder getting-off sound and light message to remind and notify the passenger 20a to get off.

[0059] (3)-2-(1)-B. It needs to wait multiple times to reach the stop 50d:

[0060] (3)-2-(1)-B-a. The server 10a transmits through the network pipeline to the passenger terminal device to notify the passenger 20a that they can directly walk to the boarding station 50a closest to the passenger to board the self-driving car 40a parked at the boarding station 50a. At the same time, the lead car and self-driving car integrated management server 10a provides the passenger information of the self-driving car 40a at the boarding station 50a and the destination information through the network pipeline.

[0061] (3)-2-(1)-B-b. The server 10a assigns a qualified lead car 30a to go to the waiting station 50a closest to the passenger to connect in series with the self-driving car 40a parked at the boarding station 50a closest to the passenger that the passenger has boarded. The self-driving car 40a at the boarding station 50a follows the lead car 30a to go to the intermediate stop 50b.

[0062] (III)-2-(1)-B-c. The self-driving vehicle 40a parked at the boarding station 50a follows the leading vehicle 30a to reach the intermediate stop 50b. The leading vehicle 30a decouples the self-driving vehicle 40a. The server 10a assigns a leading vehicle 30f to go to the intermediate stop 50b to connect in series with the passengers who have boarded the self-driving vehicle 40a. The self-driving vehicle 40a follows the leading vehicle 30f to the destination stop 50d.

[0063] (III)-2-(2). When there is no self-driving vehicle waiting at the boarding station 50a:

[0064] (III)-2-(2)-A. The server 10a assigns a leading vehicle 30b that has been connected in series with a self-driving vehicle 40b. The self-driving vehicle 40b is already carrying passengers and was originally scheduled to stop at the boarding station 50a.

[0065] (III)-2-(2)-A-a. It can directly reach the stop 50d.

[0066] (III)-2-(2)-A-a-i. The server 10a transmits through the network pipeline to the passenger terminal device to notify the passenger 20a to walk to the boarding station 50a to board the self-driving vehicle 40b that was originally carrying passengers but the original passengers have got off.

[0067] (III)-2-(2)-A-a-ii. The remaining subsequent steps are the same as those in "(III)-2-(1)-A. It can directly reach the waiting station 50d".

[0068] (III)-2-(2)-A-b. It needs to wait multiple times to reach the stop 50d:

[0069] (III)-2-(2)-A-b-i. The server 10a transmits through the network pipeline to the passenger terminal device to notify the passenger 20a that they can directly walk to the boarding station 50a to board the self-driving vehicle 40a parked at the boarding station 50a. At the same time, the server 10a provides the passenger information of the self-driving vehicle 40a parked at the boarding station 50a through the network pipeline.

[0070] (III)-2-(2)-A-b-ii. The remaining subsequent steps are the same as those in "(III)-2-(1)-B. It needs to wait multiple times to reach the stop 50d".

[0071] (III)-2-(2)-B. The server 10a assigns a leading vehicle 30c that has been connected in series with a self-driving vehicle 40c. The self-driving vehicle 40c is not carrying passengers and was originally assigned by the server 10a to be dispatched to the boarding station 50a:

[0072] (III)-2-(2)-B-a. It can directly reach the waiting station 50d: The remaining subsequent steps are the same as those in "(III)-2-(1)-A. It can directly reach the waiting station 50d".

[0073] (III)-2-(2)-Bb. It takes several waiting times to reach stop 50d: The remaining subsequent steps are the same as those in “(III)-2-(1)-B. It takes several waiting times to reach stop 50d”.

[0074] (III)-2-(2)-C. After receiving the ride request from the passenger 20a, the server 10a dispatches a pilot vehicle 30d to go to the waiting station 50c (or the parking lot) and guide a self-driving car 40d parked at the waiting station 50c (or the parking lot) to the boarding station 50a.

[0075] (III)-2-(2)-Ca. Direct access to the stop 50d: The remaining subsequent steps are the same as those in “(III)-2-(1)-A. Direct access to the waiting station 50d”.

[0076] (III)-2-(2)-Cb. It takes several waiting times to reach the passenger's destination waiting station 50d: The remaining subsequent steps are the same as those in "(III)-2-(1)-B. It takes several waiting times to reach the stop 50d".

[0077] (IV) Door-to-door service - door-to-door service, such as Figure 2 The following is a three-segment service configuration diagram of the present invention, where the first segment is the "home-to-station" service:

[0078] (IV)-1. Passenger 20a submits a request for ride service to the server 10a via the network at the boarding station 50a.

[0079] (IV)-2. After receiving the ride service request, the server 10a selects the optimal boarding station 50a based on the passenger's location and nearby self-driving car information. This can be divided into the following situations:

[0080] (IV)-2-(1). When a self-driving car 40a is waiting in the bus stop 50a:

[0081] (IV)-2-(1)-A. The server 10a provides passenger information of the self-driving car 40a at the boarding station 50a through the network channel, and transmits the information to the passenger terminal device through the network channel to inform the passenger 20a of the boarding information, including the self-driving car information, estimated arrival time, etc.

[0082] (IV)-2-(1)-Aa. After the server 10a receives the confirmation information, the server 10a notifies the self-driving car to independently drive from the boarding station 50a to the passenger's boarding point.

[0083] (4)-2-(1)-A-b. After the passenger gets on the self-driving vehicle, the self-driving vehicle independently drives back to the original boarding station 50a and waits for the leading vehicle to lead it to the next waiting station.

[0084] (4)-2-(2). When there is no self-driving vehicle waiting at the boarding station 50a:

[0085] (4)-2-(2)-A. The server 10a assigns a leading vehicle 30b that has been serially leading a self-driving vehicle 40b. The self-driving vehicle 40b is already carrying passengers and was originally scheduled to stop at the boarding station 50a:

[0086] (4)-2-(2)-A-a. The remaining subsequent steps are the same as the steps in “(4)-2-(1)-A. The server 10a provides the passenger information of the self-driving vehicle 40a at the boarding station 50a through the network pipeline, and at the same time transmits it to the passenger terminal device through the network pipeline to notify the passenger 20a of the boarding information, including the self-driving vehicle information, the estimated arrival time and other information”.

[0087] (4)-2-(2)-B. The server 10a assigns a leading vehicle 30c that has been serially leading a self-driving vehicle 40c. The self-driving vehicle is not carrying passengers and was originally assigned by the server 10a to be dispatched to the boarding station 50a:

[0088] (4)-2-(2)-B-a. The remaining subsequent steps are the same as the steps in “(4)-2-(1)-A. The server 10a provides the passenger information of the self-driving vehicle 40a at the boarding station 50a through the network pipeline, and at the same time transmits it to the passenger terminal device through the network pipeline to notify the passenger 20a of the boarding information, including the self-driving vehicle information, the estimated arrival time and other information”.

[0089] (4)-2-(2)-C. After the server 10a receives the ride service demand of the passenger 20a, it assigns a leading vehicle 30d to go to the waiting station 50c (or the storage yard), serially lead a self-driving vehicle 40f at the waiting station 50c (or the storage yard) to the boarding station 50a:

[0090] (4)2(2)Ca. The remaining subsequent steps are the same as the steps in “(4)-2-(1)-A. The server 10a provides the passenger information of the self-driving vehicle 40a at the boarding station 50a through the network pipeline, and at the same time transmits it to the passenger terminal device through the network pipeline to notify the passenger 20a of the boarding information, including the self-driving vehicle information, the estimated arrival time and other information”.

[0091] (5) Door-to-door service - station-to-station, such as Figure 2 As shown in the three-stage service configuration diagram of the present invention, this is the second stage of the “station-to-station” service:

[0092] (V)-1. The server 10a assigns an eligible pilot vehicle, including pilot vehicle 30a, pilot vehicle 30b, pilot vehicle 30c, pilot vehicle 30d, and pilot vehicle 30e, to go to the pick-up station 50a. The tandem passengers board the self-driving vehicle 40a parked at the pick-up station 50a, and then the self-driving vehicle 40a follows the aforementioned eligible pilot vehicle to the stop 50d.

[0093] (VI) Door-to-Door Service - Station to Door, as Figure 2 shown in the three-stage service configuration diagram of the present invention. Here is the third-stage "Station to Door" service. More specifically, as Figure 3 shown in the "Station to Door" schematic diagram of a vehicle dispatching method using a pilot vehicle mixed with a self-driving vehicle of the present invention:

[0094] (VI)-1. The self-driving vehicle 40a follows the pilot vehicle 30a to reach the stop 50d. The pilot vehicle 30a decouples the self-driving vehicle 40a. The self-driving vehicle 40a notifies the server 10a that it has arrived at the station, and then the self-driving vehicle 40a independently drives at a low speed to the passenger drop-off destination.

[0095] (VI)-2. After the self-driving vehicle 40a that has arrived at the destination notifies the server 10a that it has arrived at the station, the server 10a notifies the passenger to get off through the terminal device of the passenger 20a, and at the same time, it can notify the passenger to get off through the sound and light device of the self-driving vehicle 40a.

[0096] (VI)-3. After the passenger gets off, the self-driving vehicle 40a transmits a message through the network to the server 10a indicating that the service has been completed. The server 10a transmits a message through the network to the terminal device of the passenger 20a to notify the completion of the order.

[0097] (VI)-4. The self-driving vehicle 40a independently returns to the stop 50d near the destination to standby.

[0098] In summary, after organizing and integrating, as Figure 4A shown in the vehicle dispatching method using a pilot vehicle mixed with a self-driving vehicle of the present invention - "Direct Process from Station to Station", in Figure 4A , steps 401 to 406 of the station-to-station service mode are the smoothest basic transportation steps. In the self-driving vehicle information, there is a self-driving vehicle parked at the pick-up station 50a, and the pilot situation is a direct basic mode. And the steps in Figure 4A are as follows:

[0099] In Figure 4A step 401, the passenger 20a uses the passenger terminal device to submit a ride service request.

[0100] In Figure 4AStep 402: After the server 10a receives the ride service demand, it selects the best suitable pick-up station 50a for pairing based on (a) the location where the passenger desires to take a ride and (b) the location and status of nearby self-driving vehicles, i.e., "self-driving vehicle information". The server 10a provides the passenger information and destination information of the self-driving vehicle 40a at the pick-up station 50a through a network pipeline, and at the same time, transmits it to the passenger terminal device through the network pipeline to notify the passenger 20a of the ride information, including the assigned self-driving vehicle information, estimated arrival time, and other information. The "nearby" in the self-driving vehicle information means within a certain distance that the passenger 20a can reach the pick-up location on foot, such as within a walking distance of 300 meters for the defined path planning or within an estimated walking time of 5 minutes. In addition, whether there is a self-driving vehicle available for dispatch at the pick-up station 50a includes several situations as follows (not shown in the figure):

[0101] 4A-402-(1). There is or will be a self-driving vehicle available for dispatch at the nearby waiting station.

[0102] 4A-402-(2). An idle (not assigned a dispatch task) self-driving vehicle that was originally parked at the waiting station.

[0103] 4A-402-(3). A self-driving vehicle that has not been parked at the waiting station yet but has been assigned a dispatch task and whose destination is near the waiting station.

[0104] 4A-402-(4). There is currently or will be no self-driving vehicle available for dispatch near the waiting station.

[0105] If there is a self-driving vehicle available for dispatch near the waiting station, the server 10a will list all available waiting stations, calculate the walking distance between these stations and the pick-up location of the passenger 20a, and find the waiting station with a walking distance less than the walking distance threshold and the minimum walking distance for assignment.

[0106] Conversely, if there is no self-driving vehicle available for dispatch nearby, the server 10a will expand the search range (e.g., increase the walking distance threshold), and assign an available (e.g., not on a task or with a task path nearby) lead vehicle with the minimum additional driving distance (including the distance between the lead vehicle and the self-driving vehicle, and the distance between the self-driving vehicle and the pick-up location of the passenger 20a) to connect with an idle self-driving vehicle and lead it to park at the waiting station with the minimum walking distance from the pick-up location of the passenger 20a.

[0107] And in the aforementioned Figure 4A "providing self-driving vehicle information" in step 402 is as follows: The nearby self-driving vehicle information includes multiple waiting stations, including but not limited to the pick-up station 50a, and whether there is a self-driving vehicle parked and waiting for dispatch at the waiting station 50c, including the following operating steps:

[0108] 4A-402A. It is to display the information of the self-driving vehicle: among which, the boarding station 50a is selected from the multiple waiting stations, and further determine whether there is a self-driving vehicle 40a parked and waiting at the waiting station.

[0109] 4A-402B. It is to determine whether there is a self-driving vehicle waiting: when there is no self-driving vehicle parked and waiting at the waiting station, further determine whether there is a second pilot vehicle 30b, or a third pilot vehicle 30c, and a second self-driving vehicle 40b, or a third self-driving vehicle 40c arriving at the boarding station 50a near the position of the vehicle to be boarded.

[0110] 4A-402-C. Among them, when there is no second pilot vehicle 30b, or third pilot vehicle 30c, and second self-driving vehicle 40b, or third self-driving vehicle 40c arriving at the boarding station 50a near the position of the vehicle to be boarded, the server 10a can additionally assign a fourth pilot vehicle 30d or a fourth pilot vehicle 30e to connect and pair with a fourth self-driving vehicle 40f to arrive at the boarding station 50a.

[0111] In Figure 4A Step 403, the server 10a transmits the information of the boarding station 50a and the first self-driving vehicle 40a to the passenger terminal device, notifies the passenger 20a to board the first self-driving vehicle 40a at the boarding station 50a, and the server 10a forms a service order with the passenger information and the destination information of the paired first self-driving vehicle 40a.

[0112] In Figure 4AStep 404 is that the server 10a assigns the first pilot vehicle 30a that meets the service order to go to the pick-up station 50a and serially pairs with the first self-driving vehicle 40a. The first self-driving vehicle 40a follows the first pilot vehicle 30a to the stop 50d. If the first self-driving vehicle 40a was originally parked at the pick-up station 50a, it will wait at this station for the passenger 20a to arrive and get on the vehicle. The passenger 20a will, according to the order information received from the server 10a in advance, notify the first self-driving vehicle 40a by scanning the "Quick Response Code (QR Code)" attached to the vehicle body of the first self-driving vehicle 40a, or by entering the order number on the screen set on the vehicle. After the first self-driving vehicle 40a compares and confirms that it is correct with the order information received from the server 10a in advance, it will open the door to let the passenger 20a get on. After the passenger 20a clicks and confirms on the terminal device that they have got on the vehicle, the server 10a will transmit the information that the passenger has got on the vehicle to the first self-driving vehicle 40a and the first pilot vehicle 30a through the network. The first self-driving vehicle 40a will wait for the first pilot vehicle 30a to serially pair. Then, it will also transmit the basic information and arrival message of the first pilot vehicle 30a to the first self-driving vehicle 40a through the server 10a. After confirming that the information of each other is correct by using the "Vehicle-to-vehicle (V2V)" technology, the journey can start.

[0113] If the first self-driving vehicle 40a was not originally parked at the pick-up station 50a, there are a total of the following 2 situations:

[0114] When the first self-driving vehicle 40a waits at the pick-up station 50a earlier than the passenger 20a, it operates in the aforementioned manner.

[0115] When the first self-driving vehicle 40a arrives at the pick-up station 50a later than the passenger 20a, when it arrives, it operates in the aforementioned manner.

[0116] At Figure 4A Step 405 is that when the first self-driving vehicle 40a follows the first pilot vehicle 30a to arrive at the stop 50d, the first pilot vehicle 30a disconnects from the first self-driving vehicle 40a and transmits the information that it has arrived at the stop 50d to the server 10a and the first self-driving vehicle 40a. The server 10a transmits the message to get off to the passenger terminal device and the first self-driving vehicle 40a. The first self-driving vehicle 40a plays an audible and visual message to remind the passenger 20a to get off.

[0117] At Figure 4AStep 406 is that after the passenger 20a gets off the vehicle, the first self-driving vehicle 40a transmits the passenger getting-off information to the server 10a, and the server 10a sends a ride-ending message to the passenger terminal device to notify the passenger 20a that the service order has been completed. When arriving at the drop-off point and notifying the passenger 20a to get off, the first self-driving vehicle 40a will determine whether the passenger 20a has gotten off based on the in-vehicle sensors and the in-vehicle closed state. When the in-vehicle sensors show that there are no passengers in the vehicle and the doors are in the closed state, the first self-driving vehicle 40a will transmit the getting-off message to the server 10a, and then the server 10a will transmit the order completion information to the passenger 20a.

[0118] Figure 4B The following shows a vehicle dispatching method using a lead vehicle and a self-driving vehicle in the present invention - the "non-direct substitution process from station to station" steps are as follows:

[0119] First, change the display of Figure 4A Step 404 to Figure 4B Step 4040 shown as "The server 10a assigns and confirms that the first lead vehicle 30a meeting the service order goes to the pick-up station 50a, and serially pairs with the first self-driving vehicle 40a, and the first self-driving vehicle 40a follows the first lead vehicle 30a to go to the stop 50d". At this time, the stop may include "one or more non-direct intermediate stations", or a "direct destination station".

[0120] Next, in Figure 4B Step 4041, when the stop is the non-direct intermediate station, the first self-driving vehicle 40a follows the first lead vehicle 30a and arrives at the non-direct intermediate station 50b, and the first lead vehicle 30a then decouples the first self-driving vehicle 40a.

[0121] Continuing, further in Figure 4B Step 4042, the server 10a assigns a lead vehicle 30f to go to the non-direct intermediate station 50b, serially pairs with the first self-driving vehicle 40a, and goes to the next non-direct intermediate station or the direct destination station 50d. The foregoing Figure 4B Step 4041, and Figure 4B Step 4042 can be repeated here to stop at one or more non-direct intermediate stations.

[0122] Figure 5A The following shows a vehicle dispatching method using a lead vehicle and a self-driving vehicle in the present invention - the "door-to-door direct process", where Figure 5A Steps 501 to Figure 5A Step 510 is the smoothest door-to-door service mode. In the self-driving vehicle information, there is a self-driving vehicle waiting at the pick-up station 50a, and the leading situation is the direct mode. After sorting, the steps are as follows:

[0123] InFigure 5A In step 501, the passenger 20a uses the passenger terminal device to request a ride.

[0124] At Figure 5A Step 502 is that after receiving the request, the server 10a selects the best and appropriate bus stop 50a based on the passenger's desired location and the nearby self-driving car information. Figure 5A In step 502, the neighboring self-driving car information includes multiple waiting stations, including but not limited to waiting station 50a and waiting station 50c. The steps for determining whether a self-driving car is parked and on standby are as follows (not shown in the figure):

[0125] 55021. When the waiting station 50a is selected from the multiple waiting stations, it is further determined whether there are self-driving cars parked and waiting at the waiting station.

[0126] 55022. When there is no self-driving car parked on standby at the waiting station, further determine whether there is a second pilot car such as the second pilot car 30b, or the third pilot car 30c, and whether the second self-driving car 40b, or the third self-driving car 40c has arrived at the waiting station 50a near the location where the passenger wants to board the bus.

[0127] 55023. When the second pilot car 30b is not available at the waiting station 50a near the desired boarding location, or the third pilot car 30c and the second self-driving car 40b are available, or the second self-driving car 40c arrives at the waiting station 50a, the server 10a additionally assigns the fourth pilot car 30d or 30e, and pairs it in series with the fourth self-driving car 40f to arrive at the waiting station 50a.

[0128] At Figure 5A In step 503, the server 10a transmits the ride information to the passenger terminal device, wherein the ride information includes the information of the first self-driving car and the estimated arrival time, and forms a service order.

[0129] At Figure 5A In step 504, the server 10a dispatches the first self-driving car 40a from the waiting station 50a to drive to the desired location independently according to the service order.

[0130] At Figure 5A In step 505, after the passenger 20a takes the first self-driving car 40a, the first self-driving car 40a returns to the waiting station 50a in an independent self-driving manner.

[0131] At Figure 5AIn step 506, the server 10a assigns the first pilot vehicle 30a that meets the service order to go to the waiting station 50a to serially pair with the first self-driving vehicle 40a in which the passenger 20a is riding, and the first self-driving vehicle 40a follows the first pilot vehicle 30a to go to the docking station 50d.

[0132] At Figure 5A In step 507, when the first self-driving vehicle 40a follows the first pilot vehicle 30a to arrive at the docking station 50d, the first pilot vehicle 30a disconnects from the first self-driving vehicle 40a and transmits the information that it has arrived at the docking station 50d to notify the server 10a, and the server 10a assigns the first self-driving vehicle 40a to drive independently to send the passenger 20a to the disembarkation destination.

[0133] At Figure 5A In step 508, when the first self-driving vehicle 40a arrives at the disembarkation destination, the first self-driving vehicle 40a sends an arrival message to notify the server 10a, and the server 10a transmits a disembarkation message to the passenger terminal device and the first self-driving vehicle 40a, and the first self-driving vehicle 40a plays an audible and visual message to remind the disembarkation to remind and notify the passenger 20a to get off.

[0134] At Figure 5A In step 509, after the passenger 20a gets off, the first self-driving vehicle 40a transmits the information that the passenger has got off to the server 10a, and the server 10a sends a ride end message to the passenger terminal device to notify the passenger 20a that the service order has been completed.

[0135] At Figure 5A In step 510, the self-driving vehicle 40a drives back to the waiting station near the destination in an independent self-driving mode to standby, and the waiting station can be the original waiting station or other nearby waiting stations. If the self-driving vehicle 40a has no subsequent dispatching task, it will independently run back to the original parked waiting station; if the self-driving vehicle 40a has been assigned an order subsequently, it will independently run to the nearest waiting station, and it must meet the conditions of independent operation, that is, it can only pass through branch roads on the way and cannot drive on the main road.

[0136] Also, when the docking station includes one or more non-direct intermediate stations or a direct destination station, the following can be performed Figure 5B As shown below, a vehicle dispatching method of a pilot vehicle mixed with a self-driving vehicle according to the present invention - "non-direct substitution process from door to door" is as follows:

[0137] First, Figure 5A Step 506 is changed to be displayed as Figure 5B"Yes, the server 10a assigns the first pilot vehicle 30a that meets the service order to go to the waiting station 50a to serially pair with the first self-driving vehicle 40a on which the passenger 20a is riding, and the first self-driving vehicle 40a follows the first pilot vehicle 30a to the docking station". At this time, the docking station may include "one or more non-direct intermediate stations", or a "direct destination station".

[0138] Next, in Figure 5B Step 5061, when the docking station is the non-direct intermediate station 50b, the first self-driving vehicle 40a follows the first pilot vehicle 30a to reach the non-direct intermediate station 50b, and the first pilot vehicle 30a decouples the first self-driving vehicle 40a.

[0139] Continuing, further in Figure 5B Step 5062, the server 10a assigns a pilot vehicle 30f to go to the non-direct intermediate station 50b to serially pair with the first self-driving vehicle 40a and go to the next non-direct intermediate station or the direct destination station 50d. The foregoing Figure 5B Step 5061, and Figure 5B Step 5062 can be repeated to stop at one or more non-direct intermediate stations.

[0140] In summary, a vehicle dispatching method using a pilot vehicle and a self-driving vehicle according to the present invention at least includes the following steps:

[0141] First, a passenger uses a passenger terminal device to submit a ride service demand; then, the server receives the ride service demand, pairs and selects a waiting station based on the passenger's desired boarding location and adjacent self-driving vehicle information; the server then transmits the waiting station and the first self-driving vehicle information to the passenger terminal device to notify the passenger to board the first self-driving vehicle at the waiting station, and the server forms a service order with the passenger information and the destination information of the paired first self-driving vehicle; the server assigns the first pilot vehicle that meets the service order to go to the waiting station and serially pair with the first self-driving vehicle, and the first self-driving vehicle follows the first pilot vehicle to the waiting station. When the first self-driving vehicle follows the first pilot vehicle to reach the waiting station, the first pilot vehicle decouples the first self-driving vehicle and transmits the information that it has reached the waiting station to the server and the first self-driving vehicle. The server transmits a getting-off message to the passenger terminal device and the first self-driving vehicle, and the first self-driving vehicle plays a reminder getting-off sound and light message to remind and notify the passenger to get off. And, after the passenger gets off, the first self-driving vehicle transmits the passenger getting-off information to the server, and the server sends a ride end message to the passenger terminal device to notify the passenger that the service order has been completed.

[0142] The present invention is a vehicle dispatch method that uses a pilot car mixed with a self-driving car, wherein the information of the neighboring self-driving cars includes whether there are self-driving cars parked on standby at multiple waiting stations, and the waiting stations are selected from the multiple waiting stations. It is further determined whether there are self-driving cars parked on standby at the waiting stations. When no self-driving car is parked on standby at the waiting stations, it is further determined whether a second pilot car and a second self-driving car have arrived at the waiting stations near the desired boarding location. When no second self-driving car and the second pilot car have arrived at the waiting stations near the desired boarding location, the server additionally assigns a third pilot car to be paired in series with the third self-driving car to arrive at the waiting stations.

[0143] The present invention is a vehicle dispatching method that uses a pilot car mixed with a self-driving car, wherein the stop may include one or more indirect intermediate stations or direct destination stations. When the stop is a non-direct intermediate station, the first self-driving car follows the first pilot car to arrive at the non-direct intermediate station, the first pilot car disconnects the first self-driving car, and the server assigns other (such as a fourth) pilot car to go to the non-direct intermediate station, and tandem pairs the first self-driving car to go to the next non-direct intermediate station or direct destination station.

[0144] The present invention provides a vehicle dispatching method using a pilot vehicle mixed with a self-driving vehicle, comprising at least the following steps:

[0145] First, a passenger terminal device is used to request a ride service; then, the server receives the ride service request and matches the waiting station with the passenger's desired ride location and the information of nearby self-driving cars; then, the server transmits the ride information to the passenger terminal device, wherein the ride information includes the information of the first self-driving car and the estimated arrival time, and forms a service order; based on the service order, the server notifies the first self-driving car assigned by the waiting station to drive to the desired ride location in an independent self-driving manner; then, after the passenger gets on the first self-driving car, the first self-driving car drives back to the waiting station in an independent self-driving manner; the server assigns the first pilot car that meets the service order to go to the waiting station to connect with the first self-driving car that the passenger is riding, and the first self-driving car follows the first pilot car to the stop; and when the first The self-driving car follows the first pilot car to a stop. The first pilot car disengages from the first self-driving car and will arrive at the stop. The information will be transmitted to the notification server, and the server will assign the first self-driving car to independently drive the passenger to the get-off destination. When the first self-driving car arrives at the get-off destination, the first self-driving car sends an arrival information notification to the server. The server transmits the get-off message to the passenger terminal device and the first self-driving car. The first self-driving car plays a sound and light message to remind the passenger to get off. After the passenger gets off, the first self-driving car transmits the information that the passenger has got off to the server. The server sends a ride end message to the passenger terminal device to notify the passenger that the service order has been completed. The server assigns the first self-driving car to drive independently and return to the waiting station near the destination to wait.

[0146] The present invention is a vehicle dispatch method that uses a pilot car mixed with a self-driving car, wherein information about nearby self-driving cars includes whether a plurality of waiting stations have self-driving cars parked on standby, and the waiting stations are selected from the plurality of waiting stations. Further determination is made as to whether a self-driving car is parked on standby at the waiting station. When no self-driving car is parked on standby at the waiting station, further determination is made as to whether a second pilot car and a second self-driving car have arrived at the waiting station near the desired boarding location. When no second pilot car and a second self-driving car have arrived at the waiting station near the desired boarding location, the server additionally assigns a third pilot car to be paired in series with the third self-driving car to go to the waiting station.

[0147] The present invention is a vehicle dispatching method that uses a pilot car mixed with a self-driving car, wherein the stop may include one or more indirect intermediate stations or direct destination stations. When the stop is a non-direct intermediate station, the first self-driving car follows the first pilot car to arrive at the non-direct intermediate station, the first pilot car disconnects the first self-driving car, and the server assigns other (such as a fourth) pilot car to go to the non-direct intermediate station, and tandem pairs the first self-driving car to go to the next non-direct intermediate station or direct destination station.

[0148] Since the present invention covers both manned and self-driving cars, it is necessary to integrate the systems and manpower of various relevant units, including the integrated manager of unmanned vehicles and self-driving cars, the taxi passenger transport industry, taxi driving, self-driving car factories, and the online booking platform for commercial vehicles. Therefore, the functions of each role need to be divided and positioned as follows: the integrated manager of manned and self-driving cars is responsible for integrating all relevant units, and conducting vehicle dispatch and operation management of pilot cars and self-driving cars, and deciding which pilot car to assign to lead which self-driving car; the self-driving car factory is responsible for the maintenance and operation of the self-driving car platform; the online booking platform for commercial vehicles is responsible for matching the supply and demand of vehicles; and the taxi passenger transport industry is responsible for managing taxi driving.

[0149] A vehicle dispatching method using a leading vehicle and a self-driving vehicle according to the present invention adopts a mixed dispatching and operation mode of "leading vehicle" and "self-driving vehicle", which can increase operation time and efficiency. At the same time, an advanced driver assistance system is introduced to greatly improve driving safety, vehicle use efficiency and operation safety, achieving safer transportation. Moreover, the present invention adopts a mixed dispatching and operation mode of "leading vehicle" and "self-driving vehicle", so it can maintain the advantages of manned driving, quickly eliminate emergencies of "self-driving vehicles", and the present invention is an operation mode in which the "leading vehicle" leads the "self-driving vehicle" to provide passenger and cargo services, with the "leading vehicle" as the main and the "self-driving vehicle" as the auxiliary. The "self-driving vehicle" is only responsible for door-to-door transportation, and also includes independent low-speed transportation modes such as door-to-door and door-to-station. The present invention arrives at the destination through the following behavior of the "self-driving vehicle" following the "leading vehicle", and collects passengers or goods in the form of a distribution station, which is sufficient to cope with the complex and mixed traffic environment in various places, and can quickly complete the purpose of transportation. Moreover, the present invention still assigns someone to drive and control for road monitoring, and can quickly eliminate faults or emergencies of the "leading vehicle" or "self-driving vehicle", avoiding traffic congestion or traffic accidents and other impacts on transportation. The present invention is an operation mode in which the leading vehicle leads the self-driving vehicle, integrating the "unmanned" advantages of the self-driving vehicle and the "reliable" advantages of the leading vehicle, which can reduce the taxi operation cost by 60%, mainly reducing labor costs, and can increase the monthly operation of each vehicle from 200 hours to 600 hours.

[0150] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications and improvements without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be defined by the claims.

Claims

1. A vehicle dispatching method using a leading vehicle and a mixed self-driving vehicle, characterized in that It at least includes: A passenger uses a passenger terminal device to submit a ride service demand. A server receives the ride service demand and pairs and selects a waiting station based on the passenger's desired pick-up location and nearby self-driving vehicle information. The server transmits waiting station information and first self-driving vehicle information to the passenger terminal device, notifies the passenger to board the first self-driving vehicle at the waiting station, and the server pairs the passenger information and destination information of the first self-driving vehicle to form a service order. The server assigns a first pilot vehicle that meets the service order to go to the waiting station and serially pairs with the first self-driving vehicle, and the first self-driving vehicle follows the first pilot vehicle to a stop. When the first self-driving vehicle follows the first pilot vehicle to reach the stop, the first pilot vehicle disconnects from the first self-driving vehicle and transmits the information that it has reached the stop to the server and the first self-driving vehicle. The server transmits a getting-off message to the passenger terminal device and the first self-driving vehicle, and the first self-driving vehicle plays a reminder getting-off sound and light message to remind and notify the passenger to get off. And After the passenger gets off, the first self-driving vehicle transmits a passenger getting-off information to the server, and the server sends a ride end message to the passenger terminal device to notify the passenger that the service order has been completed.

2. The vehicle dispatching method according to claim 1, characterized in that, Wherein the nearby self-driving vehicle information includes whether there are self-driving vehicles parked and waiting at multiple waiting stations.

3. The vehicle dispatching method according to claim 2, wherein The waiting station is selected from the multiple waiting stations, and further determines whether there are self-driving vehicles parked and waiting at the waiting station.

4. The vehicle dispatching method according to claim 3, characterized in that Wherein when there are no self-driving vehicles parked and waiting at the waiting station, it is further determined whether there is a second pilot vehicle and a second self-driving vehicle near the desired pick-up location that are about to arrive at the waiting station.

5. The vehicle dispatching method according to claim 4, wherein Wherein when there is no second self-driving vehicle and second pilot vehicle near the desired pick-up location that are about to arrive at the waiting station, the server additionally assigns a third pilot vehicle to serially pair with a third self-driving vehicle to arrive at the waiting station.

6. The vehicle dispatching method according to claim 1, wherein, The stop may include one or more non-direct intermediate stations or a direct destination station.

7. The vehicle dispatching method according to claim 6, wherein, Wherein when the stop is the non-direct intermediate station, the first self-driving vehicle follows the first pilot vehicle to reach the non-direct intermediate station, the first pilot vehicle disconnects from the first self-driving vehicle, and the server assigns a fourth pilot vehicle to go to the non-direct intermediate station, serially pair with the first self-driving vehicle, and go to the next non-direct intermediate station or the direct destination station.

8. A vehicle dispatch method using a pilot vehicle mixed with a self-driving vehicle, characterized in that: It at least includes: A passenger uses a passenger terminal device to submit a ride service demand. A server receives the ride service demand and pairs a waiting station based on the passenger's desired pick-up location and nearby self-driving vehicle information. The server transmits ride information to the passenger terminal device, wherein the ride information includes information of a first self-driving vehicle and an estimated arrival time, and forms a service order. The server assigns and notifies the first self-driving vehicle to drive to the desired pick-up location in an independent self-driving mode according to the service order from the waiting station. After the passenger boards the first self-driving vehicle, the first self-driving vehicle drives back to the waiting station in an independent self-driving mode. The server assigns a first pilot car that meets the service order to go to the waiting station and tandem-pair with the first self-driving car that the passenger is riding in, and the first self-driving car follows the first pilot car to a stop; When the first self-driving car follows the first pilot car to arrive at the stop, the first pilot car disengages from the first self-driving car and transmits a stop message of arrival at the stop to the server, and the server assigns the first self-driving car to independently drive the passenger to the destination where the passenger gets off the bus; When the first self-driving car arrives at the get-off destination, the first self-driving car sends an arrival message to the server, the server transmits a get-off message to the passenger terminal device and the first self-driving car, and the first self-driving car plays an audio and visual message to remind the passenger to get off; After the passenger gets off the vehicle, the first self-driving car transmits information that the passenger has gotten off the vehicle to the server, and the server sends a ride completion message to the passenger terminal device, notifying the passenger that the service order has been completed; as well as The server assigns the first self-driving car to drive back to a waiting station near the destination in an independent self-driving manner and wait for orders.

9. The vehicle dispatching method according to claim 8, wherein: The nearby self-driving car information includes whether there are self-driving cars parked and on standby at multiple waiting stations.

10. The vehicle dispatching method according to claim 9, characterized in that, The waiting station is selected from the plurality of waiting stations, and it is further determined whether there is a self-driving car parked on standby at the waiting station.

11. The vehicle dispatching method according to claim 10, characterized in that, Wherein when this waiting station does not have self-driving car to stop and wait for an order, further judge whether this waiting station near this position of wanting to take a bus has a second pilot car and a second self-driving car that are about to arrive at this waiting station.

12. The vehicle dispatching method according to claim 11, wherein, When the second pilot car is not available at the waiting station at the desired boarding location and the second self-driving car is about to arrive at the waiting station, the server additionally assigns a third pilot car to be paired in series with a third self-driving car to go to the waiting station.

13. The vehicle dispatching method according to claim 8, wherein, The stop may include one or more indirect intermediate stations or a direct destination station.

14. The vehicle dispatch method according to claim 13, characterized in that, When the stop is the indirect intermediate station, the first self-driving car follows the first pilot car to arrive at the indirect intermediate station, the first pilot car disconnects the first self-driving car, and the server assigns a fourth pilot car to go to the indirect intermediate station, and tandem pairs with the first self-driving car to go to the next indirect intermediate station or the direct destination station.

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