Autonomous driving vehicle service method and system

Abstract

An embodiment of the present application provides an automated vehicle service system. The automated vehicle service system includes a central control coordination device disposed in a central control system, vehicle coordination devices disposed in the automated vehicles, and hub coordination devices disposed in hub service areas. When the central control coordination device determines that the automated vehicles require vehicle service, the central control coordination device determines a vehicle service plan and transmits the vehicle service plan to the vehicle coordination device and the hub coordination device, respectively, so that the automated vehicles interact with entities in the hub service areas controlled by the hub coordination device under the control of the vehicle coordination device in accordance with the vehicle service plan. The present application fills a technical gap in the field of automated driving, namely, the inability of road infrastructure to provide automated vehicles with services such as refueling and maintenance, and contributes to the popularization and development of automated driving technology applications.

Description

[Technical field]

[0001] TECHNICAL FIELD Embodiments of the present application relate to the intelligent transportation field, and more particularly, embodiments of the present application relate to an automated vehicle service method and system. [Background technology]

[0002] This section provides a background or context for the embodiments of the present application that are described in the claims. Nothing herein is admitted to be prior art by virtue of its inclusion in this section.

[0003] In recent years, the logistics industry has been gradually transitioning towards digital information and artificial intelligence. Advanced digital information technology and artificial intelligence technology not only contribute to improving the service quality and operational efficiency of the logistics industry, but also effectively reduce logistics costs, greatly promoting the development of the logistics industry.

[0004] Road freight transport is one of the main forms of logistics transportation. As road construction and road network structure are gradually improved, the road freight transport industry still has great room for growth in the future.

[0005] Automated driving vehicles (ADVs) have been increasingly put to practical use in recent years. They can significantly reduce labor costs and significantly improve transportation efficiency, and therefore can be widely applied in the road freight transportation industry. Summary of the Invention [Problem to be solved by the invention]

[0006] Generally speaking, an autonomous vehicle is a smart mobile device that detects the road environment using an on-board sensor system, plans a driving route using a computer system, and controls the operation of a power system to reach a specified destination. Similar to traditional automobiles, autonomous vehicles also require a power source and services such as maintenance and repairs, but the current road infrastructure is not yet able to provide the above services to autonomous vehicles.

[0007] In view of the above problems, the present application provides an autonomous vehicle service method and system that overcomes or at least partially solves the above problems. [Means for solving the problem]

[0008] In a first aspect of an embodiment of the present application, there is provided an autonomous vehicle service method applied to a central control coordination device, the method including: when the central control coordination device determines that an autonomous vehicle requires vehicle service, determining a vehicle service plan; and, by the central control coordination device, transmitting the vehicle service plan to a vehicle coordination device disposed in the autonomous vehicle and a hub coordination device disposed in the hub service area, respectively, so that the autonomous vehicle interacts with entities in a hub service area controlled by the hub coordination device under the control of the vehicle coordination device in accordance with the vehicle service plan.

[0009] A second aspect of an embodiment of the present application provides an autonomous vehicle service method applied to a vehicle cooperation device disposed in an autonomous vehicle, the method including the steps of receiving, by the vehicle cooperation device, a vehicle service plan transmitted from a central control cooperation device, and controlling, by the vehicle cooperation device, an interaction between the autonomous vehicle and an entity in a hub service area based on the vehicle service plan, the vehicle service plan being determined by the central control cooperation device when the autonomous vehicle determines that it requires vehicle service.

[0010] A third aspect of an embodiment of the present application provides an automated vehicle service method applied to a hub collaboration device located in a hub service area, the method including the steps of receiving, by the hub collaboration device, a vehicle service plan transmitted from a central control collaboration device, and controlling, by the hub collaboration device, an interaction between an automated vehicle and an entity in the hub service area based on the vehicle service plan, the vehicle service plan having been determined by the central control collaboration device when the automated vehicle determines that it requires vehicle service.

[0011] In a fourth aspect of an embodiment of the present application, there is provided a central control coordination device, the central control coordination device including a processor, a memory, and a computer program stored in the memory and executable by the processor, the processor, when executing the computer program, performing an autonomous vehicle service method applicable to the aforementioned central control coordination device.

[0012] In a fifth aspect of an embodiment of the present application, there is provided a central control system, the central control system including a central control coordination device, which is used to determine a vehicle service plan when an autonomous vehicle determines that it requires vehicle service, and to transmit the vehicle service plan to a vehicle coordination device disposed in an autonomous vehicle and a hub coordination device disposed in a hub service area, respectively, so that the autonomous vehicle interacts with entities in a hub service area controlled by the hub coordination device under the control of the vehicle coordination device in accordance with the vehicle service plan.

[0013] In a fifth aspect of an embodiment of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program realizing, when executed by a processor, a method to be applied in the central control and collaboration device described above.

[0014] In a sixth aspect of an embodiment of the present application, there is provided a vehicle cooperation device, the vehicle cooperation device including a processor, a memory, and a computer program stored in the memory and executable by the processor, the processor, when executing the computer program, performs an autonomous vehicle service method applicable to the aforementioned vehicle cooperation device.

[0015] In a seventh aspect of an embodiment of the present application, there is provided an autonomous vehicle, the autonomous vehicle including a vehicle coordination device, the vehicle coordination device being used to receive a vehicle service plan transmitted from a central control coordination device and to control an interaction between the autonomous vehicle and an entity in a hub service area based on the vehicle service plan, the vehicle service plan being determined by the central control coordination device when it is determined that the autonomous vehicle requires vehicle service.

[0016] In an eighth aspect of an embodiment of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program realizing, when executed by a processor, an autonomous vehicle service method applicable to the vehicle cooperation device described above.

[0017] In a ninth aspect of an embodiment of the present application, there is provided a hub collaboration device, the hub collaboration device including a processor, a memory, and a computer program stored in the memory and executable by the processor, the processor, when executing the computer program, performing an autonomous vehicle service method applicable to the hub collaboration device described above.

[0018] In a tenth aspect of an embodiment of the present application, a hub service area is provided, the hub service area including a hub collaboration device and an entity, the hub collaboration device being used to receive a vehicle service plan sent from a central control collaboration device and control an interaction between the entities in the hub service area and an autonomous vehicle based on the vehicle service plan, the vehicle service plan being determined by the central control collaboration device when the autonomous vehicle determines that it requires vehicle service.

[0019] In an eleventh aspect of an embodiment of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, realizing an autonomous vehicle service method applicable to the aforementioned hub collaboration device.

[0020] In a twelfth aspect of an embodiment of the present application, there is provided an autonomous vehicle service system, the autonomous vehicle service system including a central control coordination device disposed in a central control system, a vehicle coordination device disposed in an autonomous vehicle, and a hub coordination device disposed in a hub service area, the central control coordination device being used to determine a vehicle service plan when the autonomous vehicle determines that it requires vehicle service, and to transmit the vehicle service plan to the vehicle coordination device and the hub coordination device, respectively, so that the autonomous vehicle interacts with entities in the hub service area controlled by the hub coordination device in accordance with the vehicle service plan under the control of the vehicle coordination device.

[0021] In a thirteenth aspect of an embodiment of the present application, there is provided a vehicle service system comprising: a central control system including a central control coordination device; an autonomous vehicle including a vehicle coordination device; and a hub service area including a hub coordination device and an entity, wherein the central control coordination device is used to determine a vehicle service plan and transmit the vehicle service plan to the vehicle coordination device and the hub coordination device, respectively, when the autonomous vehicle determines that it requires vehicle service, and the vehicle coordination device is used to control an interaction between the autonomous vehicle and entities in the hub service area based on the vehicle service plan, and the hub coordination device controls an interaction between the autonomous vehicle and entities in the hub service area based on the vehicle service plan. Effect of the Invention

[0022] The present application provides a method and system for determining a vehicle service plan according to the needs of an autonomous vehicle and providing vehicle services to the autonomous vehicle through a hub service area, thereby filling the current technical gap in the field of autonomous driving, in which road infrastructure cannot provide services such as energy refueling and maintenance to autonomous vehicles, and contributing to the popularization and development of the application of autonomous driving technology.

[0023] Other features and advantages of the present application will be set forth in the specification which follows, and in part will be obvious from the specification, or will be learned by the practice of the present application. The objectives and other advantages of the present application will be realized and obtained by the structure particularly pointed out in the written description, claims and drawings.

[0024] The technical solutions of the present application are described in further detail below through drawings and examples.

[0025] These and other objects, features and advantages of exemplary embodiments of the present application will be readily understood by reading the following detailed description in conjunction with the drawings, in which certain embodiments of the present application are illustrated by way of example and not limitation.

[0026] In the drawings, like or corresponding reference numbers represent like or corresponding parts. [Brief description of the drawings]

[0027] [Figure 1] 1 illustrates a schematic diagram of a system structure of an autonomous vehicle according to an embodiment of the present application. [Diagram 2] 1 is a schematic diagram showing a plan view of a hub service area according to an embodiment of the present application; [Diagram 3] 1 is a schematic diagram of a system structure of a hub service area according to an embodiment of the present application; [Figure 4] 1 is a schematic diagram of a system structure of a central control system according to an embodiment of the present application; [Diagram 5] 1 illustrates a schematic diagram of a scene graph for a vehicle service system according to an embodiment of the present application; [Figure 6] 1 illustrates a schematic diagram of a scene graph for an autonomous vehicle service system according to an embodiment of the present application; [Figure 7] FIG. 2 is a schematic diagram showing a driving route of an autonomous vehicle according to an embodiment of the present application; [Figure 8] FIG. 2 is a schematic diagram showing a driving route of an autonomous vehicle according to an embodiment of the present application; [Figure 9] 1 illustrates a schematic diagram of an autonomous vehicle according to an embodiment of the present application; [Figure 10] 1 illustrates a schematic diagram of a hub service area according to one embodiment of the present application. [Figure 11] 1 illustrates a schematic diagram of a central control system according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Hereinafter, the principles and spirit of the present application will be described with reference to some exemplary embodiments. It should be understood that these embodiments are merely provided to enable those skilled in the art to better understand and further realize the present application, and are not intended to limit the scope of the present application in any manner. On the contrary, these embodiments are provided to make the present disclosure clearer and more complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0029] Those skilled in the art will appreciate that the embodiments of the present disclosure may be realized as a system, an apparatus, a device, a method, or a computer program product. Thus, the present disclosure may be specifically realized in the form of entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0030] For ease of understanding, the following technical terms pertaining to this application will be interpreted as follows.

[0031] An "autonomous vehicle" referred to in this application may be a vehicle having a passenger function (e.g., a family car, a bus, etc.), a cargo transport function (e.g., a normal truck, a van truck, a trailer truck, an enclosed truck, a tanker truck, a flatbed truck, a container truck, a dump truck, a special structure truck, etc.), or a special support function (e.g., a fire engine, an ambulance, etc.) that is realized by autonomous driving technology.

[0032] The terminals according to the present application may include, but are not limited to, mobile phones, tablet computers, desktop computers, portable notebook computers, and the like.

[0033] The term "and / or" in this application is simply a relational relationship describing related objects, and indicates that three types of relationships may exist. For example, A and / or B can indicate three cases: only A exists, A and B exist simultaneously, and only B exists.

[0034] In this application, the symbol " / " generally indicates that the related objects before and after it are in an "or" relationship.

[0035] Any element numbers in the figures are illustrative rather than limiting, and any nomenclature is used for distinction only and has no limiting meaning.

[0036] The principles and spirit of the present application will be described in detail below with reference to some representative embodiments of the present application.

[0037] 1.Autonomous Driving Vehicles (ADV) An autonomous vehicle may be a vehicle that has a passenger function (e.g., a family car, a bus, etc.), a cargo transport function (e.g., a normal truck, a van truck, a trailer truck, an enclosed truck, a tanker truck, a flatbed truck, a container truck, a dump truck, a special structure truck, etc.), or a special support function (e.g., a fire engine, an ambulance, etc.) that is realized by autonomous driving technology.

[0038] 1 shows the structure of an autonomous vehicle according to an embodiment of the present application. The autonomous vehicle includes a power system 110, a sensor system 120, an actuation system 130, a peripheral system 140, and a vehicle computing system 150. In some other embodiments, the vehicle may include more, fewer, or different units, and each unit may include more, fewer, or different components. In some other embodiments, the units and components shown in FIG. 1 may be combined or divided in any number.

[0039] The power system 110 may be arranged to provide motive power to the vehicle. The power system 110 may include one or more of an engine / motor 111, an energy source 112, a transmission 113, and wheels / tires 114.

[0040] Engine / motor 111 may be any combination of internal combustion engines, electric motors, steam engines, and Stirling engines, as well as other motors and engines. In some embodiments, power system 110 may include various types of engines and / or motors. For example, a gas-electric hybrid vehicle may include a gasoline engine and an electric motor.

[0041] The energy source 112 may be an energy source 112 that provides power in whole or in part to the engine / motor 111. The engine / motor 111 may be arranged to convert the energy source 112 into mechanical energy. The energy source 112 may include gasoline, diesel, propane, other fuels based on compressed gas, ethanol, solar panels, batteries, and other power sources. The energy source 112 may additionally or alternatively include any combination of a fuel tank, a battery, a capacitor, and / or a flywheel. In some embodiments, the energy source 112 may also provide energy to other units of the vehicle.

[0042] The transmission 113 may be arranged to transfer mechanical power from the engine / motor 111 to the wheels / tires 114. To that end, the transmission 113 may include a gearbox, a clutch, a differential, a drive shaft, and / or other elements. In embodiments in which the transmission 113 includes a drive shaft, the drive shaft may include one or more axles arranged to couple to the wheels / tires 114.

[0043] The wheels / tires 114 may be arranged in any configuration including one, two, three, four, six, etc. Other wheel / tire 114 configurations are possible, such as configurations including eight or more wheels. In any case, the wheels / tires 114 may be arranged to rotate differentially relative to the other wheels / tires 114. In some embodiments, the wheels / tires 114 may include at least one wheel fixedly attached to the transmission 113 and at least one tire that may be in surface contact with the road surface and coupled to a rim of the vehicle. The wheels / tires 114 may include any combination of metal and rubber, or other combinations of materials.

[0044] Power system 110 may additionally or alternatively include other components than those listed above.

[0045] The sensor system 120 may include an external sensor 121 and an internal sensor 122 .

[0046] The external sensors 121 may include a number of sensors arranged to sense information of the environment in which the vehicle is located, and one or more actuators 1217 arranged to change the position and / or orientation of the sensors. For example, the external sensors 121 may include one or more of a position sensor 1211, an inertial sensor 1212, an object sensor 1213, and an image sensor 1214.

[0047] The position sensor 1211 may be any sensor that estimates the geographic position of the vehicle, such as, for example, a Global Positioning System (GPS) positioning device, a carrier phase difference RTK positioning device, a Beidou satellite positioning system positioning device, a GLONASS positioning system positioning device, a Galileo positioning system positioning device, a Global Navigation Satellite System (GNSS) positioning device, etc. The position sensor 1211 may include a transceiver that estimates the position of the vehicle relative to the Earth.

[0048] The inertial sensor 1212 may be any combination of sensors arranged to sense changes in position and orientation of the vehicle based on inertial acceleration, such as an inertial measurement unit (IMU), etc. In some embodiments, the inertial sensor 1212 may include an accelerometer and a gyro.

[0049] The object sensor 1213 may be any sensor that detects objects in the environment in which the vehicle is located by radio or laser signals, such as, for example, a radar, a laser range finder, a laser radar, etc. In some embodiments, in addition to detecting objects, the radar and laser radar may additionally detect the speed and / or direction of travel of the objects. In some embodiments, the object sensor 1213 may include a transmitter that emits a radio or laser signal and a detector that detects the radio or laser signal.

[0050] Image sensor 1214 may include any camera (eg, a still camera, a video camera, etc.) for capturing images of the environment in which the vehicle is located.

[0051] The external sensor 121 may also include any other sensor for detecting the distance of an object, such as, for example, a sonar 1215, an ultrasonic sensor 1216, or the like.

[0052] The internal sensor 122 may include a plurality of sensors arranged to detect information corresponding to a driving state of the vehicle. For example, the internal sensor 122 may include one or more of a vehicle speed sensor 1221, an acceleration sensor 1222, and a yaw rate sensor 1223.

[0053] The vehicle speed sensor 1221 may be any sensor that detects the speed of a vehicle.

[0054] The acceleration sensor 1222 may be any sensor that detects the acceleration of the vehicle.

[0055] The yaw rate sensor 1223 may be any sensor that detects the yaw rate (angular velocity of rotation) of a vertical axis about the center of gravity of the vehicle, such as a gyro sensor.

[0056] In some embodiments, to detect driving operation information, the internal sensors 122 may further include one or more of an accelerator pedal sensor 1224, a brake pedal sensor 1225, and a steering wheel sensor 1226.

[0057] The accelerator pedal sensor 1224 may be any sensor that detects the amount of depression of the accelerator pedal. The accelerator pedal sensor 1224 is provided, for example, on the shaft portion of the accelerator pedal of the vehicle.

[0058] The brake pedal sensor 1225 may be any sensor that detects the amount of depression of the brake pedal. The brake pedal sensor 1225 is provided, for example, on the shaft portion of the brake pedal. The brake pedal sensor 1225 can also detect the operating force on the brake pedal (the depression force on the brake pedal, the pressure of the main cylinder, etc.).

[0059] The steering wheel sensor 1226 may be any sensor that detects the rotation state of the steering wheel. The detected value of the rotation state is, for example, a steering torque or a steering angle, and the steering wheel sensor 1226 is provided, for example, on the steering shaft of the vehicle.

[0060] Additionally, the internal sensors 122 may further include other sensors, such as sensors that monitor components within the vehicle (eg, an oxygen monitor, a fuel gauge, an engine oil temperature gauge, etc.).

[0061] In some examples, the sensor system 120 may be implemented as a combination of multiple sensors, with each sensor combination positioned to be mounted at a corresponding location on the vehicle (e.g., top, bottom, front, rear, left side, right side, etc.).

[0062] The actuation system 130 may be arranged to control the driving behavior of the vehicle. The actuation system 130 may include one or more of a steering module 131, a throttle module 132, and a braking module 133.

[0063] The steering module 131 may be any combination of devices that controls the steering torque (or steering torque) of a vehicle.

[0064] The throttle module 132 may be any combination of devices that adjusts the engine air supply (throttle opening) to achieve control of the operating speed of the engine / motor 111 and thus control of the vehicle speed.

[0065] The brake module 133 may be any combination of devices that slows down the vehicle. For example, the brake module 133 may slow down the wheels / tires 114 through frictional forces.

[0066] Peripheral system 140 may be positioned to allow the vehicle to interact with external sensors 121, other vehicles, external computing devices, and / or a user. For example, peripheral system 140 may include one or more of wireless communication device 141, wired communication interface 142, touch screen display 143, microphone 144, and speaker 145.

[0067] The wireless communication device 141 may be arranged to be directly or wirelessly connected to one or more devices included in the power system 110, the sensor system 120, the actuation system 130, the peripheral system 140, and the vehicle computing system 150, and to be directly or wirelessly connected to one or more of other vehicles, a central control system, and entities in a hub service area. TechniqueThe wireless communication technology may include antennas and chipsets based on the Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Bluetooth (BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR). The GNSS may include the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Beidou Navigation Satellite System (BDS), the Quasi-zenith Satellite System (QZSS), and / or Satellite Based Augmentation Systems (SBAS).

[0068] The wired communication interface 142 may be arranged to directly connect to one or more devices included in the power system 110, the sensor system 120, the actuation system 130, the peripheral system 140, and the vehicle computing system 150, as well as to one or more of other vehicles, central control systems, entities in a hub service area, etc. The wired communication interface 142 may include an Inter-Integrated Circuit (I2C) interface, an Inter-Integrated Circuit Sound (I2S) interface, a Pulse Code Modulation (PCM) interface, a Universal Asynchronous Receiver / Transmitter (UART) interface, a Mobile Industry Processor Interface (MIPI), a General-Purpose Input / Output (GPIO) interface, a Subscriber Identity Module (SIM) interface, and / or a Universal Serial Bus (USB) interface, etc.

[0069] The touchscreen display 143 may be used to input commands from a user to the vehicle. The touchscreen display 143 may be arranged to detect the position and / or movement of a user's finger by capacitive sensing, resistive sensing or surface acoustic wave processing. The touchscreen display 143 may detect finger movement parallel or flush with the surface of the touchscreen, perpendicular to the surface of the touchscreen, or in two directions, and may also detect the level of pressure applied to the surface of the touchscreen. The touchscreen display 143 may be formed of one or more semi-transparent or transparent insulating layers and one or more semi-transparent or transparent conductive layers. The touchscreen display 143 may be arranged in other configurations.

[0070] The microphone 144 may be positioned to receive an acoustic signal (eg, a voice command or other audio input) and convert the acoustic signal into an electrical signal.

[0071] A speaker 145 may be arranged to output audio.

[0072] The peripheral system 140 may additionally or alternatively include other components.

[0073] The vehicle computing system 150 may include a processor 151 and a data storage device 152 .

[0074] The processor 151 may be arranged to perform various functions by executing commands stored in the data storage device 152. These functions include, but are not limited to, functions corresponding to the positioning fusion module 1501, the sensing module 1502, the driving state determination module 1503, the navigation module 1504, the decision-making module 1505, the driving control module 1506, and the task receiving module 1507 described below. The processor 151 may include one or more combinations of a general-purpose processor (e.g., CPU, GPU), an application-specific processor (e.g., application-specific integrated circuit (ASIC)), a field programmable gate array (FPGA), a digital signal processor (DSP), an integrated circuit, a microcontroller, and the like. When the processor 151 includes multiple processors 151, these processors 151 may operate alone or in combination.

[0075] The data storage device 152 may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. The data storage device 152 may include one or more combinations of read-only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable erasable memory (EEPROM), embedded multimedia card (eMMC), hard disk drive, or any volatile or non-volatile media, etc. The data storage device 152 may be fully or partially integrated with the processor 151. The data storage device 152 may be arranged to store commands that can be executed by the processor 151 to perform various functions, including, but not limited to, functions corresponding to the positioning fusion module 1501, the sensing module 1502, the driving state determination module 1503, the navigation module 1504, the decision-making module 1505, the driving control module 1506, and the task receiving module 1507 described below.

[0076] The positioning fusion module 1501 may be configured to receive environmental data, location data, or other types of data sensed by the sensor system 120, and perform processing on the data, such as timestamp alignment, fusion calculations, etc., to obtain fused environmental data and vehicle location data. The positioning fusion module 1501 may include algorithms to implement, for example, Kalman filters, Bayesian networks, and other functions.

[0077] The sensing module 1502 may be arranged to receive the fused environment data calculated by the positioning fusion module 1501 and perform computer vision processing thereon to identify objects and / or features in the environment in which the vehicle is located, including, for example, lanes, pedestrians, other vehicles, traffic signals, traffic infrastructure, etc. The sensing module 1502 may use object identification algorithms, Structure from Motion (SFM) algorithms, video tracking, or other computer vision techniques. In some embodiments, the sensing module 1502 may further be arranged to create a map of the environment, track objects, estimate object speeds, etc.

[0078] The driving state determination module 1503 identifies the driving state of the vehicle, including the vehicle speed, acceleration, or yaw rate, based on data obtained by the internal sensors 122 in the sensor system 120 .

[0079] The task receiving module 1507 may be configured to receive a task, analyze information contained in the task, such as the loading / unloading address, cargo category, loading / unloading time, and the like, and transmit this information to the navigation module 1504.

[0080] The navigation module 1504 may be configured to be any unit that determines a driving route for the vehicle. The navigation module 1504 may further be configured to dynamically update the driving route during operation of the vehicle. In some embodiments, the navigation module 1504 may be configured to determine a driving route for the vehicle based on the processing results from the positioning fusion module 1501, the positioning sensor, the object sensor 1213, the task receiving module 1507, and one or more pre-stored high-precision map data.

[0081] The decision-making module 1505 may be arranged to generate waypoint information for the vehicle based on the driving path calculated by the navigation module 1504, the vehicle position data calculated by the positioning fusion module 1501, and objects and / or features in the environment in which the vehicle is located identified by the sensing module 1502. A waypoint in the waypoint information is a trajectory point along which the vehicle moves forward in the driving path.

[0082] The cruise control module 1506 may be configured to receive the waypoint information generated by the decision making module 1505 and control the actuation system 130 based on the waypoint information to cause the vehicle to cruise according to the waypoint information.

[0083] The data storage device 152 may be further configured to store other commands, including commands to transmit data to, receive data from, interact with, and / or control one or more of the power system 110, the sensor system 120, the actuation system 130, and / or the peripheral system 140. The data storage device 152 may be further configured to store other commands. For example, the data storage device 152 may store a command for controlling the operation of the transmission 113 to improve fuel efficiency, may store a command for controlling the image sensor 1214 to capture an environmental image, may store a command for generating a three-dimensional image of the environment in which the vehicle is located based on data sensed by the object sensor 1213, and may store a command for identifying an electrical signal converted by the microphone 144 as a voice command.

[0084] The data storage device 152 may also be arranged to store other commands. In addition to storing commands, the data storage device 152 may also be arranged to store various information, such as image processing parameters, training data, high definition maps, route information, etc., which may be used by one or more of the power system 110, the sensor system 120, the actuation system 130, and the peripheral system 140, and the vehicle computing system 150 while the vehicle is operating in an autonomous, semi-autonomous, or manual mode.

[0085] The vehicle computing system 150 may be communicatively connected to one or more of the power system 110, the sensor system 120, the actuation system 130, and the peripheral system 140 via a system bus, a network, and / or other connection mechanism.

[0086] The vehicle computing system 150 may be directly connected by a data line or wirelessly connected by wireless communication technology to the wireless communication device 141 in the peripheral system 140, and then wirelessly connected by the wireless communication device 141 to the hub service area and / or central control system.

[0087] Vehicle computing system 150 may be multiple computing devices that control each component or each system of the vehicle in a distributed manner.

[0088] Vehicle computing system 150 may additionally or alternatively include other components.

[0089] The vehicle computing system 150 may include a vehicle cooperation unit ADV-ECU. The vehicle cooperation unit ADV-ECU may include one or more first processors, one or more first memories, and computer commands stored in the first memories and executable by the first processor. When the first processor executes the computer commands in the first memory, it performs functions corresponding to a vehicle cooperation module 1509 described below. The vehicle cooperation module 1509 may be arranged to control the interaction of the autonomous vehicle with entities in the hub service area based on a vehicle service plan determined by the central control cooperation module 349 of the central control system. Among them, the first processor may be arranged to be one or more general-purpose processors (e.g., CPU, GPU), one or more application-specific processors (e.g., ASIC), one or more field programmable gate arrays (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and / or one or more microcontrollers, etc., among the processors 151. The first memory may be arranged to be one or more read only memories (ROMs), one or more random access memories (RAMs), one or more flash memories, one or more electrically programmable memories (EPROMs), one or more electrically programmable erasable memories (EEPROMs), one or more embedded multimedia cards (eMMCs), and / or one or more hard disk drives, etc. in the data storage device 152. The vehicle coordination module 1509 may be implemented as a computer program product. When the computer program product is executed on a computer, it realizes an autonomous vehicle service method for controlling an autonomous vehicle to interact with an entity in a hub service area based on a vehicle service plan determined by the central control coordination module 349 of the central control system.

[0090] 9 shows an autonomous vehicle according to an embodiment of the present application. The autonomous vehicle is provided with a vehicle cooperation unit ADV-ECU, which includes a first processor, a first memory, and computer commands stored in the first memory and executable by the first processor. When the first processor executes the computer commands in the first memory, the method corresponds to the following steps: In S91, the vehicle cooperation unit ADV-ECU receives a vehicle service plan sent from a central control cooperation unit CCS-ECU of the central control system. In S92, the vehicle cooperation unit ADV-ECU controls the autonomous vehicle to interact with entities in a hub service area based on the vehicle service plan.

[0091] 2. Hub Service Area A hub service area may be a location having a function capable of providing one or more vehicle service items for an autonomous vehicle, such as energy refueling, vehicle repair, vehicle maintenance, vehicle washing, loading, unloading, cargo storage, program upgrades, parking, weighing, payment, etc. A hub service area may also have other functions, such as providing one or more functions of industrial manufacturing, rail transport, air transport, highway area rest services, etc. For example, a hub service area may be a location such as a road port, seaport, cargo distribution center, logistics park, industrial park, warehouse, train station, airport, highway service area, gas station, gas station, etc.

[0092] A schematic plan view of a hub service area according to this embodiment is shown in Fig. 2, and a system structure diagram of the hub service area is shown in Fig. 3. As shown in Fig. 2, the hub service area can be arranged to include a site 210, an entrance 220, an exit 230, one or more service stations, and a hub central control room 270.

[0093] The site 210 is the ground and spatial area on the ground that is occupied by the entire hub service area. The site 210 can be divided into service areas and road areas. The service areas are arranged for accommodating service stations. The road areas are arranged for vehicles to travel on the site 210.

[0094] The entrance 220 is arranged for vehicles to enter the site 210. The entrance 220 may be provided with an entrance barrier 221 for permitting or denying vehicles from entering the site 210. The entrance barrier 221 may be arranged to include a vehicle identification device and a barrier device. The vehicle identification device may include any device for detecting vehicles approaching the entrance 220 and identifying the identity of the vehicle, which may include, for example, one or more of a vehicle detector, a video camera, a card reader. The barrier device may be one or more of a powered retractable door, a powered sliding door, and a powered barrier gate.

[0095] The exit 230 is arranged for vehicles to exit the site 210. The exit 230 may be provided with an exit barrier 231 for allowing or denying the vehicle from exiting the site 210. The exit barrier 231 may be arranged to include a vehicle identification device, a payment device, and a barrier device. The vehicle identification device may include any device for detecting a vehicle approaching the exit 230 and identifying the identity of the vehicle, which may include, for example, one or more of a vehicle detector, a video camera, and a card reader. The barrier device may be one or more of a powered retractable door, a powered sliding door, and a powered barrier gate. The payment device may be arranged to receive a total fee for all vehicle services provided by the hub service area paid by the autonomous vehicle. The payment device may be connected to an electronic bank by a network and arranged to receive the fee paid by the vehicle in the form of a network transfer.

[0096] As shown in FIG. 2 , each service station is located in a service area and may include one or more of the following service stations, but are not limited to: an energy service station 241, a repair service station 242, a storage service station 243, a parking service station 244, a network service station 245, a roadside assistance service station 246, and a spare vehicle service station 247.

[0097] As shown in FIGS. 2 and 3, a hub control room 270 may be provided in the service area, and the hub control room 270 may include a hub computing system 250 and a communication system 260 .

[0098] Energy service station 241 may be arranged to provide vehicle service items related to refueling of vehicles, including, but not limited to, items such as fueling, gas filling, charging, and replacing power battery packs.

[0099] The energy service station 241 may include any entity for providing energy refueling service items to vehicles (including the area occupied by the service station and one or more of ground facilities, machinery, and operators within the area). The energy service station 241 may include one or more of entities such as a fuel injection machine, a gas filling machine, an AC charging pile, a DC charging pile, an AC / DC combined charging pile, a battery exchange station, a firefighting equipment, an energy controller 2411, an operator, a terminal device, an identity authentication device, and a monitoring device.

[0100] An oil dispenser is a device capable of filling a vehicle with liquid fuel. An oil dispenser may be used to fill a vehicle with gasoline, diesel, or other types of automotive liquid fuel. In one embodiment, an oil dispenser may include one or more of an oil tank, an oil pipeline, a submersible pump, an oil pump, an oil gas recovery system, a flow meter, a solenoid valve, an oil gun, and the like.

[0101] A gas filling machine is an equipment capable of refueling a vehicle with gas fuel. The gas filling machine may be used to refuel a vehicle with Liquefied Petroleum Gas (LPG), Compressed Natural Gas (CNG), Liquefied Natural Gas (LNG), or other types of automotive gas fuel. The gas filling machine may include one or more of a mass flow meter, a pressure sensor, an electrical control system, an explosion-proof controlled power supply, a pneumatic valve, a ball valve, a stop valve, a safety valve, a metal hose, a gas filling gun, a gas return gun, a gas pipeline, and the like.

[0102] An AC charging pile is a power supply device that can provide AC power to the on-board charger of an electric vehicle. The AC charging pile may be a floor-mounted or wall-mounted charging pile, and may be a single-charging type (one charging pile can charge only one vehicle) or a multi-charging type (one charging pile can charge multiple vehicles).

[0103] A DC charging pile is a power supply device that can convert AC from the power grid into DC and then provide it to electric vehicles. The DC charging pile can be a floor-mounted or wall-mounted charging pile, and can be a single-charging type (one charging pile can charge only one vehicle) or a multi-charging type (one charging pile can charge multiple vehicles).

[0104] The AC / DC combined charging pile is a power supply device that can provide not only AC power but also DC power to electric vehicles. The AC / DC combined charging pile may be a floor-mounted or wall-mounted charging pile, and may be a single-charging type (one charging pile can charge only one vehicle) or a multi-charging type (one charging pile can charge multiple vehicles).

[0105] The battery exchange station can quickly exchange power battery packs for electric vehicles. In one embodiment, the battery exchange station can include a plurality of power battery packs and a dedicated warehouse for storing the power battery packs. In another embodiment, the battery exchange station can further include one or more of a DC charging pile, an AC charging pile, and an AC / DC combined charging pile for charging the exchanged power battery packs.

[0106] The firefighting equipment may be any device used for fire protection, explosion protection, lightning protection, static protection, etc. For example, it may include one or more of the following: fire extinguishers (dry powder and / or carbon dioxide type), fire blankets, fire extinguishing sand, fire water systems, lightning arresters, lightning belts, lightning nets, static dischargers, fire emergency lights, explosion-proof flashlights, static grounding alarms, combustible gas detection alarms, smoke alarms, liquid level alarms, pressure alarms, etc.

[0107] The energy controller 2411 may be arranged to be connected to, receive data from, interact with, and / or control one or more of the following: an oiler, a gas filling machine, an AC charging pile, a DC charging pile, an AC / DC combined charging pile, a battery exchange station, a firefighting equipment, and a terminal device. The energy controller 2411 may be arranged to receive instructions sent from the station control module 252 in the hub computing system 250, and control one or more entities in the energy service station 241 to perform operations based on the received instructions. For example, the energy controller 2411 may control the oiler to fill the autonomous vehicle with an appropriate amount of oil and control the gas filling machine to fill the autonomous vehicle with an appropriate amount of gas based on the instructions sent from the station control module 252. The energy controller 2411 may be arranged to transmit data obtained from one or more of the following: a fuel injection machine, a gas filling machine, an AC charging pile, a DC charging pile, an AC / DC combined charging pile, a battery exchange station, a fire equipment, and a terminal device to the station control module 252 in the hub computing system 250. The energy controller 2411 may include a processor and a data storage device. The processor may be arranged to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, the functions described above corresponding to the energy controller 2411. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage device may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. And the data storage device may be integrated in whole or in part in the processor. The data storage device may be arranged to store instructions that can be executed by the processor to perform various functions.These functions include, but are not limited to, the functions described above corresponding to the energy controller 2411.

[0108] The energy service station 241 may additionally or alternatively include other entities than those listed above.

[0109] The repair service station 242 may be arranged to provide vehicles with vehicle service items relating to fault inspection, vehicle repair, vehicle maintenance, and the like, including, but not limited to, vehicle service items such as sensor calibration, vehicle fault diagnosis, maintenance and washing, bodywork painting, mechanical fault repair, vehicle part replacement, tire repair, electronic element detection and repair, and the like.

[0110] A repair service station 242 may include any entity for providing vehicle service items such as inspection, repair, maintenance, etc. to vehicles (including the area occupied by the service station and one or more of ground facilities, machinery, and operators within the area). In one embodiment, the repair service station 242 may include one or more of the following entities: sensor calibration equipment, automobile diagnostic equipment, detection analysis equipment, maintenance and washing equipment, sheet metal painting equipment, maintenance supplies, manual repair tools, tire repair equipment, vehicle lifting equipment, repair controller 2421, tools for detecting and repairing electronic elements, automobile parts, electronic elements, operators, terminal equipment, identity authentication equipment, and monitoring equipment.

[0111] The sensor calibration device may include one or more of planar targets (e.g., checkerboards, ArUco codes), stereo targets and corner reflectors for calibrating the autonomous vehicle's position sensors 1211, inertial sensors 1212, object sensors 1213, image sensors 1214.

[0112] The vehicle diagnostic equipment may include one or more of the following: a vehicle decoder, a vehicle fault code reading card and its dedicated computer, and the like.

[0113] The detection and analysis equipment may include one or more of a vehicle speed stand, a wheel weight inspection stand, a vehicle brake inspection stand, a photodetector, a vehicle skid detection stand, a sound level meter, an exhaust gas detector, a fuel consumption meter, a goniometer, a chassis dynamo, an engine analyzer, a straightener, a road test device, an environmental protection dynamo, a waste analyzer, and the like.

[0114] The maintenance and cleaning equipment may include one or more of an automatic gearbox cleaning oil change machine, a power steering oil change machine, a grease filling machine, a refrigerant recovery filling machine, a fuel ejection nozzle cleaning detection equipment, a polishing machine, a waxing machine, a dust collector, a water sucker, and the like.

[0115] The sheet metal painting equipment may include one or more of a paint booth, paint lights, a paint mixing booth, a beam calibrator, a ground anchored body calibrator, a spray gun, and the like.

[0116] The maintenance products may include one or more of touch up paints, coolants, brake fluids, antifreeze, lubricants, repair fluids, washer fluids, sealants, putties, rust inhibitors, long life coolants, car waxes, glazes, refrigerants, car and motorcycle cleaners, tire polishes, automotive adhesives, and the like.

[0117] The manual repair tools may include one or more of a wrench, a screwdriver, a set, a tool cart, a tool box, a workbench, and the like.

[0118] The tire repair equipment may include one or more of a balancer, a tire unloader, a nitrogen filling machine, a tire curing machine, and the like.

[0119] The vehicle lifting device may include one or more of a bipedal lift, a four-legged lift, a scissor lift, a mobile lift, a jack, a hoist, a crane, and the like.

[0120] Automotive parts may include engine parts, powertrain parts, braking system parts, steering system parts, driving system parts, etc. Engine parts include, but are not limited to, throttle bodies, engines, engine assemblies, oil pumps, nozzles, tensioners, cylinder blocks, bearing shells, water pumps, fuel injectors, gaskets, camshafts, valves, crankshafts, connecting rod assemblies, pistons, belts, mufflers, carburetors, fuel tanks, water tanks, fans, oil seals, radiators, filters, etc. The power transmission parts include, but are not limited to, transmissions, gear shift lever assemblies, reducers, clutches, pneumatic and power tools, magnetic materials, electronic elements, clutch discs, clutch covers, universal joints, universal rollers, universal balls, constant velocity joints, clutch plates, transfer cases, power take-offs, synchronizers, synchronizer rings, timing belts, differentials, differential cases, differential disc gears, planetary gears, wheel carriers, flanges, gear boxes, intermediate shafts, gears, gear lever forks, power transmission shaft assemblies, power transmission shaft flanges, belts, etc. The brake parts include, but are not limited to, brake shoes, brake pads, brake discs, brake drums, compressors, brake assemblies, brake pedal assemblies, brake master cylinders, brake wheel cylinders, automotive anti-lock brake system controllers ABS-ECUs, electric hydraulic pumps, brake camshafts, brake rollers, brake shoe pins, brake adjusting arms, brake chambers, vacuum brake assists, handbrake assemblies, parking brake assemblies, parking brake lever assemblies, etc. Steering system parts include, but are not limited to, steering gears, steering knuckle heads, steering knuckle steering wheels, steering gears, assembly boosters, steering linkages, booster pumps, and the like.The running system parts include, but are not limited to, rear axles, air suspension systems, balance weights, steel plates, tires, leaf springs, half shafts, shock absorbers, steel rim assemblies, half shaft bolts, axle cases, frames, assemblies, wheel stands, front axles, etc.

[0121] Tools for detecting and repairing electronic devices may include video memory chip testers, oscilloscopes, programmers, test cards, data collection cards, chip mounters, UV erasers, tin furnaces, motherboard slots, diagnostic cards, digital multimeters, internal memory testers, ultrasonic cleaners, and the like.

[0122] The electronic elements may include liquid crystal displays, touch screens, motherboard IO interfaces, power chips, field effect transistors, capacitors, etc.

[0123] The repair controller 2421 may be configured to be connected to, receive data from, interact with, and / or control one or more of the vehicle diagnostic equipment, the detection analysis equipment, the maintenance and washing equipment, the sheet metal painting equipment, the tire repair equipment, the vehicle lifting equipment, and the terminal equipment. The repair controller 2421 may be configured to receive instructions sent from the station control module 252 in the hub computing system 250 and control one or more entities in the repair service station 242 to perform operations based on the received instructions. For example, the repair controller 2421 may control the vehicle diagnostic equipment to perform fault diagnosis on the autonomous vehicle based on the instructions sent from the station control module 252. The repair controller 2421 may be configured to send data obtained from one or more of the vehicle diagnostic equipment, the detection analysis equipment, the maintenance and washing equipment, the sheet metal painting equipment, the tire repair equipment, the vehicle lifting equipment, and the terminal equipment to the station control module 252 in the hub computing system 250. The repair controller 2421 may include a processor and a data storage device. The processor may be arranged to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, the functions described above corresponding to the repair controller 2421. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage device may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. And, the data storage device may be integrated in whole or in part with the processor. The data storage device may be arranged to store commands that can be executed by the processor to perform various functions. These functions include, but are not limited to, the functions described above corresponding to the repair controller 2421.

[0124] Repair service station 242 may additionally or alternatively include other entities than those listed above.

[0125] The storage service station 243 may be arranged to provide vehicle service items related to loading and unloading of cargo to vehicles. The storage service station 243 may include any entity for providing loading and unloading services to vehicles (including the area occupied by the service station and one or more of ground facilities, machinery, and operators within the area). The storage service station 243 may include one or more of the following entities: a warehouse, a platform, a forklift, a crane, a transport robot, a loading and unloading stage, a storage controller 2431, an operator, a terminal device, an identity authentication device, and a monitoring device.

[0126] The warehouse is arranged to store cargo. The warehouse may be divided into different spaces according to cargo type (e.g., food, medicine, refrigerated goods, flammable goods, etc.) The warehouse may be equipped with sensors such as video cameras, infrared cameras, radar, temperature sensors, humidity sensors, etc.

[0127] The platforms are arranged to be roads leading to the warehouse for parking of vehicles waiting to be loaded and unloaded. The number and size of the platforms may be determined by one or more of factors such as the size of the warehouse, the number of spaces into which the warehouse is divided, the number of vehicles, the size of the vehicles, the time required for loading and unloading per vehicle, etc. The platforms may be arranged to be provided with weighbridge sensors for weighing the vehicles.

[0128] The crane is positioned to load or unload containers to be transported by the vehicle.

[0129] The forklift and the transport robot are arranged to transport cargo stored in the warehouse to a vehicle, or to transport cargo transported by a vehicle to the warehouse.

[0130] The loading / unloading stage is disposed between the vehicle and the platform, and serves as a stage on which the forklift and the transport robot travel when traveling back and forth between the platform and the vehicle. A fixed loading / unloading stage of a hydraulic system can be adopted as the loading / unloading stage, and its height can be adjusted so that one end of the loading / unloading stage contacts the platform and the other end of the loading / unloading stage is hung on the vehicle.

[0131] The storage service station 243 may be arranged to call spare vehicles at the spare vehicle service station 247 up to the platform to pick up cargo to be transported.

[0132] The storage controller 2431 may be connected to, receive data from, interact with, and / or control one or more of the sensors in the warehouse, the sensors on the platform, the forklift, the crane, the transport robot, the loading and unloading stage, and the terminal device. The storage controller 2431 may be arranged to receive instructions sent from the station control module 252 in the hub computing system 250 and control one or more entities in the storage service station 243 to perform operations based on the received instructions. For example, the storage controller 2431 may control the loading and unloading stage to be adjusted to an appropriate height based on the instructions sent from the station control module 252. The storage controller 2431 may be arranged to send data obtained from one or more of the sensors in the warehouse, the sensors on the platform, the forklift, the crane, the transport robot, the loading and unloading stage, and the terminal device to the station control module 252 in the hub computing system 250. The storage controller 2431 may include a processor and a data storage device. The processor may be arranged to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, the functions described above corresponding to the storage controller 2431. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage device may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. And, the data storage device may be integrated in whole or in part with the processor. The data storage device may be arranged to store commands that can be executed by the processor to perform various functions. These functions include, but are not limited to, the functions described above corresponding to the storage controller 2431.

[0133] The custodial service station 243 may additionally or alternatively include other entities than those listed above.

[0134] The parking service station 244 may be arranged to provide vehicle service items related to parking for vehicles. The parking service station 244 may include any entity for providing parking service items to vehicles (including the area occupied by the service station and one or more of ground facilities, machinery, and operators within the area). The parking service station 244 may include one or more of the following entities: a parking lot, a vehicle identification device, an electric barrier gate, a charging device, a remaining space display device, a parking lot controller 2441, an operator, a terminal device, an identity authentication device, and a monitoring device.

[0135] The parking lot is arranged for vehicles to park. The parking lot may include an exit 230, an entrance 220, and a number of parking spaces. The parking spaces may be one or more of a surface parking space, a mechanical parking space. The parking spaces may be arranged to include one or more of a wheel chock, a video camera, and an ultrasonic space detector.

[0136] The vehicle identification device may include any device for detecting a vehicle approaching the parking entrance / exit 220 and identifying the identity of the vehicle, which may include, for example, one or more of a vehicle detector, a video camera, a card reader. The vehicle detector may be a ground sensing vehicle detector.

[0137] The electric barrier gate is arranged to allow or deny vehicles from entering or exiting a parking lot. The electric barrier gate may include one or more of a barrier pole, a barrier pole holder, a transmission, a counterbalance, an electric machine, a reduction gear box, and the like.

[0138] The charging device may be arranged to perform operations such as identification, recording, accounting, charging, etc., on vehicles entering and exiting the parking lot. The charging device may be arranged to include one or more of a card reader, a computing device, and a memory. The card reader may be a contact card reader, a medium range card reader, or a long range card reader. The charging device may also be connected to an electronic bank by a network and arranged to receive the toll paid by the vehicle in the form of a network transfer.

[0139] The remaining space display device is arranged to display vacant parking spaces in the parking lot. The remaining space display device may be arranged to determine whether a parking space is vacant based on a detection result by an ultrasonic space detector or an image captured by a video camera in the parking space.

[0140] The parking controller 2441 may be connected to, receive data from, interact with, and / or control one or more of the vehicle identification device, the electric barrier gate, the charging device, the remaining space display device, and the terminal device. The parking controller 2441 may be arranged to receive instructions sent from the station control module 252 in the hub computing system 250, and control one or more entities in the parking service station 244 to perform operations based on the received instructions. For example, the parking controller 2441 may be arranged to control the opening and closing of the electric barrier gate, or control the charging device to update a charging criterion based on the instructions sent from the station control module 252. The parking controller 2441 may be arranged to send data obtained from one or more of the vehicle identification device, the electric barrier gate, the charging device, the remaining space display device, and the terminal device to the station control module 252 in the hub computing system 250. The parking controller 2441 may include a processor and a data storage device. The processor may be arranged to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, the functions described above corresponding to the parking controller 2441. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. And, the data storage may be integrated in whole or in part with the processor. The data storage may be arranged to store commands that can be executed by the processor to perform various functions. These functions include, but are not limited to, the functions described above corresponding to the parking controller 2441.

[0141] Parking service station 244 may additionally or alternatively include other entities than those listed above.

[0142] The network service station 245 may be arranged to provide service items related to updating electronic files for vehicles, where the electronic files may include software programs, map files, etc. The network service station 245 may include any entity for providing service items such as updating electronic files for vehicles (including the area occupied by the service station and one or more of ground facilities, machinery, and operators within the area). The network service station 245 may include one or more of the following entities: a program update device 2451, a network connection device, an operator, a terminal device, an identity authentication device, and a monitoring device.

[0143] The program update device 2451 may include a processor and a data storage device. The processor may be arranged to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, functions corresponding to the inspection module, search module, comparison module, and update module described below. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage device may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. And, the data storage device may be integrated in whole or in part in the processor. The data storage device may be arranged to store commands that can be executed by the processor to perform various functions. These functions include, but are not limited to, functions corresponding to the inspection module, search module, comparison module, and update module described below. The inspection module may be arranged to inspect and determine the versions of various electronic files in the vehicle. The search module may be configured to search the network for the latest versions of various electronic files. The comparison module may be configured to determine electronic files that need to be updated in the vehicle by comparing the versions of various electronic files in the vehicle with the corresponding latest versions. The update module may be configured to download the latest versions of electronic files from the network and update the electronic files that need to be updated. The program update device 2451 may include interfaces such as an I2C interface, an I2S interface, a PCM interface, a UART interface, a MIPI interface, a GPIO interface, a SIM interface, and / or a USB interface. One or more of the above interfaces may be used to communicatively connect the autonomous vehicle and the program update device.

[0144] The network connection device may include a network interface, a network interface controller. The network interface may include, but is not limited to, one or more of an RJ-45 interface, an RJ-11 interface, an SC fiber optic interface, an FDDI interface, an AUI interface, a BNC interface, a Console interface, a USB interface, an RS-232 interface, etc. The network interface controller can connect a device (e.g., an autonomous vehicle) connected to the network interface to a network.

[0145] Network service station 245 may additionally or alternatively include other entities than those listed above.

[0146] The roadside assistance service station 246 may be arranged to provide vehicle service items related to assistance at the road site (roads outside the hub service area) to vehicles that have broken down, which may include one or more vehicle service items such as on-site fueling, on-site gas filling, on-site charging, on-site power battery pack replacement, vehicle towing, on-site mechanical breakdown repair, on-site vehicle part replacement, on-site towing vehicle replacement, on-site trailer replacement, cargo transfer, passenger transfer, road clearance, rescue of injured persons, etc. The roadside assistance service station 246 may include any entity for providing on-site assistance services to vehicles that have broken down on roads outside the hub service area (including the area occupied by the service station and one or more of ground facilities, machinery, and operators within the area). The road assistance service station 246 may include one or more of the following entities: a mobile repair vehicle, a mobile energy vehicle, a tow truck, spare auto parts, road clearance equipment, an ambulance, a road assistance controller 2461, an operator, a terminal device, an identity authentication device, and a monitoring device.

[0147] A mobile repair vehicle may be a vehicle having vehicle repair tools and / or equipment that may be deployed to provide mechanical breakdown repair services to vehicles that experience mechanical breakdowns on the road.

[0148] The mobile energy vehicle is a vehicle capable of providing automobile liquid fuel, automobile gas fuel, charging power source, replaceable power battery pack, etc., and can be deployed to provide services such as refueling liquid fuel, gas fuel, charging power source, and power battery pack replacement to vehicles that have broken down on the road.

[0149] Tow trucks are used for the service of towing vehicles that have broken down on the road to a suitable area (e.g. a hub service area).

[0150] The spare auto parts may include, but are not limited to, engine parts, power train parts, brake train parts, steering train parts, running train parts, sensor parts, etc. Engine parts include, but are not limited to, throttle bodies, engines, engine assemblies, oil pumps, nozzles, tensioners, cylinder blocks, bearing shells, water pumps, fuel injectors, gaskets, camshafts, valves, crankshafts, connecting rod assemblies, pistons, belts, mufflers, carburetors, fuel tanks, water tanks, fans, oil seals, radiators, filters, etc. The power transmission parts include, but are not limited to, transmissions, gear shift lever assemblies, reducers, clutches, pneumatic and power tools, magnetic materials, electronic elements, clutch discs, clutch covers, universal joints, universal rollers, universal balls, constant velocity joints, clutch plates, transfer cases, power take-offs, synchronizers, synchronizer rings, timing belts, differentials, differential cases, differential disc gears, planetary gears, wheel carriers, flanges, gear boxes, intermediate shafts, gears, gear lever forks, power transmission shaft assemblies, power transmission shaft flanges, belts, etc. The brake parts include, but are not limited to, brake shoes, brake pads, brake discs, brake drums, compressors, brake assemblies, brake pedal assemblies, brake master cylinders, brake wheel cylinders, ABS-ECU controllers, electric hydraulic pumps, brake camshafts, brake rollers, brake shoe pins, brake adjusting arms, brake chambers, vacuum brake assists, handbrake assemblies, parking brake assemblies, parking brake lever assemblies, etc. Steering system parts include, but are not limited to, steering gears, steering knuckle heads, steering knuckle steering wheels, steering gears, assembly boosters, steering linkages, booster pumps, and the like.The driving system parts include, but are not limited to, rear axles, air suspension systems, balance weights, steel plates, tires, leaf springs, half shafts, shock absorbers, steel rim assemblies, half shaft bolts, axle cases, frames, assemblies, wheel stands, front axles, etc. The sensor parts include, but are not limited to, cameras, laser radars, ultrasonic radars, laser range finders, holders, cloud platforms, etc.

[0151] Roadway clearing devices may include, but are not limited to, road cones, roadblocks, and the like.

[0152] Ambulances are used to transport injured people from the scene to a hospital and may include equipment such as the vehicle, a stretcher, a wheelchair, breathing apparatus, oxygen tanks, blood pressure monitors, medication or IV packs, warning lights, buzzers, walkie-talkies, and satellite positioning devices.

[0153] Roadside assistance service station 246 may be arranged to summon spare vehicles at spare vehicle service station 247 to the assistance site to perform tasks such as transferring passengers, transferring cargo, etc.

[0154] The road-assist controller 2461 may be connected to, receive data from, interact with, and / or control one or more of the mobile repair vehicle, the mobile energy vehicle, the tow truck, the ambulance, and the terminal device. The road-assist controller 2461 may be configured to receive instructions sent from the station control module 252 in the hub computing system 250 and control one or more entities in the road-assist service station 246 to perform actions based on the received instructions. For example, the road-assist controller 2461 may dispatch an appropriate entity to an assistance site to provide a vehicle service item to the autonomous vehicle based on the instructions sent from the station control module 252. The road-assist controller 2461 may be configured to send data obtained from one or more of the mobile repair vehicle, the mobile energy vehicle, the tow truck, the ambulance, and the terminal device to the station control module 252 in the hub computing system 250. The road-assist controller 2461 may include a processor and a data storage device. The processor may be configured to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, the functions described above corresponding to the road-assistance controller 2461. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. And, the data storage may be integrated in whole or in part with the processor. The data storage may be arranged to store commands that can be executed by the processor to perform various functions. These functions include, but are not limited to, the functions described above corresponding to the road-assistance controller 2461.

[0155] Roadside assistance service stations 246 may additionally or alternatively include other entities than those listed above.

[0156] The spare vehicle service station 247 may be arranged to provide spare vehicles, such as passenger cars, commercial vehicles, tow trucks, trailers, etc. The spare vehicle service station 247 may include one or more of the following entities: a parking lot, a vehicle identification device, an electric barrier gate, a remaining space display device, a parking lot controller 2471, a spare vehicle, an operator, a terminal device, an identity authentication device, a monitoring device, etc.

[0157] The parking lot is arranged for the spare vehicles to park. The parking lot may include an exit, an entrance and a number of parking spaces. The parking spaces may be one or more of a surface parking space, a mechanical parking space. The parking spaces may be arranged to include one or more of a wheel chock, a video camera, an ultrasonic space detector. The parking lot at the spare vehicle service station 247 and the parking lot at the parking service station 244 may be arranged to be the same parking lot.

[0158] The vehicle identification device may include any device for detecting a vehicle approaching a parking entrance and identifying the identity of the vehicle. The vehicle identification device may include one or more of a vehicle detector, a video camera, and a card reader. If the parking lot at spare vehicle service station 247 and the parking lot at parking service station 244 are arranged to be the same parking lot, then the vehicle identification device at spare vehicle service station 247 and the vehicle identification device at parking service station 244 are arranged to be the same device.

[0159] The electric barrier gate is disposed at the entrance and exit of the parking lot and is used to allow or deny vehicles from entering or exiting the parking lot. The electric barrier gate may include one or more of a barrier pole, a barrier pole holder, a transmission mechanism, a balancing device, an electric machine, a reduction gear box, etc. If the parking lot at the spare vehicle service station 247 and the parking lot at the parking service station 244 are arranged to be the same parking lot, the electric barrier gate at the spare vehicle service station 247 and the electric barrier gate at the parking service station 244 are arranged to be the same device.

[0160] The remaining space display device is arranged to display an available parking space in the parking lot. The remaining space display device may be arranged to determine whether a parking space is available based on the detection result of an ultrasonic space detector in the parking space or an image captured by a video camera. If the parking lot at the spare vehicle service station 247 and the parking lot at the parking service station 244 are arranged to be the same parking lot, the remaining space display device at the spare vehicle service station 247 and the remaining space display device at the parking service station 244 are arranged to be the same device.

[0161] The parking controller 2471 may be connected to, receive data from, interact with, and / or control one or more of the vehicle identification device, the electric barrier gate, the charging device, the remaining space display device, and the terminal device. The parking controller 2471 may be arranged to receive instructions sent from the station control module 252 in the hub computing system 250, and control one or more entities in the parking service station 244 to perform operations based on the received instructions. For example, the parking controller 2471 may be arranged to control the opening and closing of the electric barrier gate, or control the charging device to update charging criteria based on the instructions sent from the station control module 252. The parking controller 2471 may be arranged to transmit data obtained from one or more of the vehicle identification device, the electric barrier gate, the charging device, the remaining space display device, and the terminal device to the station control module 252 in the hub computing system 250. If the parking lot at the spare vehicle service station 247 and the parking lot at the parking service station 244 are arranged to be the same parking lot, the parking lot controller 2441 at the spare vehicle service station 247 and the parking lot controller 2471 at the parking service station 244 are arranged to be the same device. The parking lot controller 2471 may include a processor and a data storage device. The processor may be arranged to perform various functions by executing commands stored in the data storage device. These functions include, but are not limited to, the functions described above corresponding to the parking lot controller 2471. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and / or one or more application-specific processors (e.g., ASIC). When the processor includes multiple processors, these processors may operate alone or in combination. The data storage device may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media.And the data storage device may be wholly or partially integrated into the processor. The data storage device may be arranged to store commands that can be executed by the processor to perform various functions, including but not limited to the functions listed above corresponding to the parking controller 2471.

[0162] The spare vehicles may include one or more of passenger cars, commercial vehicles, tow vehicles, trailers, and the like.

[0163] Among them, passenger cars may include, but are not limited to, basic passenger cars (e.g., sedans), multi-purpose vehicles (MPVs), sport utility vehicles (SUVs), special-purpose passenger cars, and crossover passenger cars, and may be dispatched to roadside assistance sites to transfer passengers or used to perform other tasks.

[0164] The commercial vehicles may include, but are not limited to, pickup trucks, micro trucks, light trucks, dump trucks, cargo trucks, semi-trailer trucks, full trailer trucks, van trucks, etc., and may be dispatched to roadside assistance sites to transfer cargo, or may be used to perform cargo transportation tasks within a warehouse.

[0165] The towing vehicle may include, but is not limited to, a full trailer towing vehicle, a semi-trailer towing vehicle, and may be dispatched to a roadside assistance site and used to replace a disabled towing vehicle on a disabled vehicle, or may be dispatched to a platform and used to tow a trailer.

[0166] The trailer may include, but is not limited to, a full trailer, a semi-trailer, and may be dispatched to a roadside assistance site to replace a disabled trailer of a disabled vehicle, or may be dispatched to a platform to load cargo to be transported.

[0167] The spare vehicle service station 247 may additionally or alternatively include other entities than those listed above.

[0168] Any of the above service stations in the service area may be equipped with an operator, a terminal device, an identity authentication device and a monitoring device.

[0169] The operators may be specialists who operate various equipment at the corresponding service stations and who assist or independently complete the associated vehicle service items.

[0170] The terminal may be arranged to be a device for interacting with a vehicle entering a corresponding service station, including but not limited to performing data transmission with the vehicle, receiving control of the vehicle or controlling the vehicle. The terminal may be arranged to perform the interaction with the vehicle based on an instruction entered by an operator. The terminal may be arranged to be a device in the form of a mobile phone, a handheld computer, a tablet computer, a desktop computer, a portable notebook computer, an industrial PDA, a barcode scanner, an RFID reader, etc. Communication between the terminal and the vehicle may be by one or more of wireless communication technologies such as Wireless Local Area Networks (WLAN) (e.g. Wireless Fidelity (Wi-Fi)® networks), BT, GNSS, FM, NFC, IR, etc.

[0171] The identity authentication device may be arranged to be a device for authenticating the identity of a foreign entity (e.g., a vehicle, an equipment repairman, etc.) entering a corresponding service station. The identity authentication device may employ one or more authentication methods, such as a shared key-based identity authentication method (e.g., password authentication), a biological characteristic-based identity authentication method (e.g., fingerprint authentication, iris authentication, face authentication), a public key cryptography algorithm-based identity authentication method (e.g., Secure Socket Layer (SSL) certificate, digital signature), HTTP Basic Authentication, server-side session-browser-side cookie authentication, token authentication, open authorization (OAuth) authentication, etc.

[0172] The monitoring device may be arranged to be a device that monitors any entity at a corresponding service station and operations performed thereby. The monitoring device may include one or more of a video camera, an infrared camera, a cloud platform, a display, a console, and the like.

[0173] The service area may additionally or alternatively include other types of service stations than the above-mentioned service stations. In one embodiment, the service area may include a rest service station. The rest service station may be arranged to include vending machines, supermarkets, accommodations, entertainment venues, etc., for providing passengers with service items such as food, rest, entertainment, consumption, etc.

[0174] As shown in FIG. 3, hub computing system 250 may include a processor 251 and a data storage device 252 .

[0175] The processor 251 may be arranged to perform various functions by executing commands stored in the data storage device 252. These functions include, but are not limited to, functions corresponding to a barrier control module 253 and a station control module 254 described below. The processor 251 may include one or more combinations of general purpose processors (e.g., CPU, GPU), application specific processors (e.g., ASIC), field programmable gate arrays (FPGA), digital signal processors (DSP), integrated circuits, microcontrollers, etc. When the processor 251 includes multiple processors, these processors may operate alone or in combination.

[0176] The data storage device 252 may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. The data storage device 252 may include one or more combinations of read-only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable erasable memory (EEPROM), embedded multimedia card (eMMC), hard disk drive, or any volatile or non-volatile media, etc. The data storage device 252 may be fully or partially integrated with the processor 251. The data storage device 252 may be arranged to store commands that can be executed by the processor 251 to perform various functions, including, but not limited to, functions corresponding to the barrier control module 253 and the station control module 254 described below.

[0177] The barrier control module 253 may be arranged to receive the identification results of the vehicle identification devices at the entrance barrier 221 and the exit barrier 231 and to control the opening and closing of the barrier devices at the entrance barrier 221 and the exit barrier 231 .

[0178] The station control module 254 may be configured to generate a series of instructions based on the vehicle service plan, and send these instructions to corresponding controllers, terminal devices, identity authentication devices or other entities located at each service station, and control the corresponding controllers and / or terminal devices to interact with the entities at the corresponding service stations and the vehicle based on the instructions. In one example, the station control module 254 may generate a fueling instruction including fuel quantity information based on the vehicle service plan, and the station control module 254 may send the fueling instruction to the energy controller 2411 in the energy service station 241, and the energy controller 2411 may directly control the fueling machine to fill the autonomous vehicle with a corresponding amount of fuel after receiving the fueling instruction, and the energy controller 2411 may transfer the fueling instruction to the terminal device in the energy service station 241 after receiving the fueling instruction, and the terminal device may present various display methods such as sound and light to prompt the operator to operate the fueling machine to fill the autonomous vehicle with a corresponding amount of fuel. The station control module 254 may directly send the fueling command to a terminal device in the energy service station 241, and suggest that the operator operate the fueling machine through the terminal device to fill the autonomous vehicle with a corresponding amount of fuel. In one example, the station control module 254 can generate a program update command including a valid identity of the autonomous vehicle that needs a program upgrade service based on a vehicle service plan, and the station control module 254 can send the program update command to an identity authentication device in the network service station 245, and after receiving the program update command, the identity authentication device authenticates the autonomous vehicle that enters the network service station 245 based on the valid identity contained therein, and after the authentication is successful, the identity authentication device sends a notification message to the program update device 2451, and the program update device 2451 connects with the corresponding autonomous vehicle and updates its program after receiving the notification message.In one example, the station control module 254 can generate a sensor calibration command including a sensor type that needs to be calibrated based on the vehicle service plan, and the station control module 254 transmits the sensor calibration command to a terminal device at the repair service station 242, and the terminal device prompts the operator to build or configure a sensor calibration device corresponding to the corresponding type of sensor in various display manners such as sound and light. In one example, the station control module 254 can generate a fee payment command including vehicle service fee information to be paid by the autonomous vehicle based on the vehicle service plan, and the station control module 254 transmits the fee payment command to a payment device at the exit barrier 231, and the payment device determines whether the fee paid by the autonomous vehicle is appropriate based on the vehicle service fee information therein after receiving the fee payment command. The station control module 254 can be configured to receive data returned from a corresponding controller, a terminal device, an identity authentication device, or other entity at each service station, and grasp the operating status of each service station based on these data. In one example, the energy controller 2411 in the energy service station 241 sends a notification message back to the station control module 254 after the gas filling machine fills the autonomous vehicle with gas, the notification message including the total amount of gas filled and the corresponding fee. In one example, the storage controller 2431 in the storage service station 243 can sense the load status of the storage space in the warehouse through a sensor installed in the warehouse.

[0179] The data store 252 may also be arranged to store other commands.

[0180] In addition to storing commands, the data storage device 252 may also be arranged to store various information, such as the type and number of service stations included in the service area, a high-precision map of the road area, a total number of vehicles that have entered the hub service area, a vehicle service list corresponding to each vehicle, etc. During operation of the hub service area, such information may be used by one or more of the hub computing system 250, each service station, and / or the vehicles.

[0181] Hub computing system 250 may be multiple computing devices that control one or more of the entrance barrier 221, the exit barrier 231, and each service station in a distributed manner.

[0182] The communication system 260 may be arranged to include one or more devices such as antennas, base stations, satellite signal receivers, filters, power amplifiers, low noise amplifiers (LNAs), switches, modem processors, baseband processors, etc. The communication system 260 may communicate based on wireless communication technologies, which may include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, FM, NFC, IR, etc. The communication system 260 may be communicatively coupled to one or more of the entrance barrier 221, the exit barrier 231, and each service station via a wireless communication network, a wired communication network, and / or other connection mechanisms.

[0183] Hub computing system 250 may be communicatively coupled to the autonomous vehicles and the hub service area by communications system 260.

[0184] The hub computing system 250 may include a hub collaboration unit HUB-ECU. The hub collaboration unit HUB-ECU may include one or more second processors, one or more second memories, and computer commands stored in the second memories and executable by the second processor. When the second processor executes the computer commands in the second memory, it performs functions corresponding to the hub collaboration module 255 described below. The hub collaboration module 255 may be arranged to control the interaction of the autonomous vehicle with entities in the hub service area based on the vehicle service plan determined and transmitted by the central control collaboration module 349 of the central control system. Among them, the second processor may be arranged to be one or more general-purpose processors (e.g., CPU, GPU), one or more application-specific processors (e.g., ASIC), one or more field programmable gate arrays (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and / or one or more microcontrollers, etc., among the processors 251. The second memory may be arranged to be one or more read only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electrically programmable memories (EPROM), one or more electrically programmable erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and / or one or more hard disk drives, etc., of the data storage device 252. The hub coordination module 255 may be implemented as a computer program product, which, when executed on a computer, realizes an autonomous vehicle service method for controlling autonomous vehicles to interact with entities in a hub service area based on a vehicle service plan determined and transmitted by the central control coordination module 349 of the central control system.

[0185] 10 shows a hub service area according to an embodiment of the present application. A hub cooperation unit HUB-ECU is disposed in the hub service area, and the hub cooperation unit HUB-ECU includes a second processor, a second memory, and computer commands stored in the second memory and executable by the second processor. When the second processor executes the computer commands in the second memory, the method performs the method corresponding to the following steps: In S101, the hub cooperation unit HUB-ECU receives a vehicle service plan sent from the central control cooperation unit CCS-ECU of the central control system. In S102, the hub cooperation unit HUB-ECU controls an interaction between an entity in the hub service area and an autonomous vehicle based on the vehicle service plan.

[0186] 3. Central Control System (CCS) A central control system may be deployed to centralize monitoring, dispatching, and control of autonomous vehicles accessing the network.

[0187] A structural schematic diagram of the central control system is shown in Figure 4. The central control system may include a communication subsystem 310, an interaction subsystem 320, and a central control computing system 340.

[0188] The communication subsystem 310 may be arranged to be communicatively connected to the autonomous vehicle by a network resource. The communication subsystem 310 may include one or more of the following devices: an antenna, a base station, a satellite signal receiver, a filter, a power amplifier, a low-noise amplifier, a switch, a modem processor, a baseband processor, etc. The communication subsystem 310 may communicate with the autonomous vehicle (wireless communication device 141) based on a wireless communication technology, which may include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, WLAN, NFC, FM and / or IR technology, etc. Among them, the GNSS may include GPS, GLONASS, BDS, QZSS and / or SBAS.

[0189] The interaction subsystem 320 may be arranged to display information and receive data and / or commands input by an operator. The interaction subsystem 320 may include one or more of a display, a keyboard, a touch screen display, a speaker, a handset, a microphone, an indicator, a camera, a mouse, a USB interface, a touch sensor, etc.

[0190] The central control computing system 340 may be arranged to include a processor 341 , a data storage device 342 and a system bus 343 .

[0191] The processor 341 may be arranged to perform various functions by executing commands stored in the data storage device 342. These functions include, but are not limited to, functions corresponding to a monitoring module 344, a dispatch module 345, a control module 346, and an interaction module 347 described below. The processor 341 may include one or more combinations of general purpose processors (e.g., CPU, GPU), application specific processors (e.g., ASIC), field programmable gate arrays (FPGA), digital signal processors (DSP), integrated circuits, microcontrollers, etc. When the processor includes multiple processors, these processors may operate alone or in combination.

[0192] The processor 341 may be arranged to include one or more interfaces. The interfaces may include an integrated circuit I2C interface, an I2S interface, a PCM interface, a UART interface, a MIPI interface, a GPIO interface, a SIM interface, and / or a USB interface, etc. One or more of the above interfaces may be used to communicatively couple the processor to the communication subsystem 310 and / or the interaction subsystem 320. The I2C interface may be used to couple the processor to a touch sensor in the interaction subsystem 320. The MIPI interface may be used to couple the processor to a display, a camera in the interaction subsystem 320.

[0193] The data storage 342 may include one or more volatile computer-readable storage media and / or one or more non-volatile computer-readable storage media, such as optical, magnetic, and / or organic storage media. The data storage 342 may include one or more combinations of read-only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable erasable memory (EEPROM), embedded multimedia card (eMMC), hard disk drive, or any volatile or non-volatile media, etc. The data storage 342 may be fully or partially integrated into the processor. The data storage 342 may be arranged to store commands that can be executed by the processor to perform various functions, including but not limited to functions corresponding to the monitoring module 344, dispatch module 345, control module 346, and interaction module 347 described below.

[0194] The monitoring module 344 may be arranged to obtain vehicle-related parameters via the communication subsystem 310. The vehicle-related parameters include, but are not limited to, one or more of sensor data, status information, navigation data, decision-making data, control data, and the like. The sensor data include, but are not limited to, a geographical location, a driving speed, a driving acceleration, an engine RPM, a steering wheel angle, a yaw rate, an accelerator pedal depression amount, a brake pedal depression amount, a fuel level, and the like. The status information includes, but is not limited to, an operating state (e.g., starting, driving, pausing along the way, engine stopped, broken, under repair, waiting for loading / unloading, and the like), a driving mode (e.g., automatic driving, semi-automatic driving, or manual driving), and the like. The navigation data includes, but is not limited to, a starting point, a destination, a driving route, and the like. The decision-making data includes, but is not limited to, acceleration, deceleration, braking, steering, lane change, obstacle avoidance, and the like. The control data includes, but is not limited to, a steering torque change amount, a throttle opening change amount, an engine RPM change amount, and the like.

[0195] The dispatch module 345 may be configured to dispatch the autonomous vehicles to perform tasks. The dispatch module 345 may have access to or include a purchase order processing system. The purchase order processing system may be used to process passenger transport orders and / or freight transport orders. The dispatch module 345 may dispatch the autonomous vehicles to perform passenger pickup tasks according to pick-up and destination locations in the purchase order processing system. The dispatch module 345 dispatches the autonomous vehicles to perform logistics transport tasks according to loading and unloading locations in the purchase order processing system.

[0196] The interaction module 347 may be arranged to display vehicle related parameters via the interaction subsystem 320 and to receive operator input data and / or commands from the interaction subsystem 320 .

[0197] The control module 346 may be configured to make decisions for the autonomous vehicle based on one or more of vehicle-related parameters, operator-input data, and commands, and send corresponding instructions to the autonomous vehicle. The control module 346 may make lane-changing decisions based on sensor data of the autonomous vehicle, and send corresponding instructions to the autonomous vehicle to execute the instructions to realize lane changing. The control module 346 may formulate a driving route according to a loading location and an unloading location, and send corresponding instructions to the autonomous vehicle to drive from the loading location to the unloading location according to the driving route.

[0198] The data storage device 342 may further be arranged to store other commands, including commands to send data to, receive data from, interact with, and / or control one or more of the communication subsystem 310, the interaction subsystem 320. The central control computing system 340 may be communicatively coupled to the communication subsystem 310 and the interaction subsystem 320 by a system bus, a network, and / or other connection mechanism.

[0199] Besides storing commands, the data storage device 342 may further be arranged to store various information, such as, for example, identifiers of autonomous vehicles accessing the network, vehicle related parameters, map data, etc. During operation of the central control computing system 340, such information may be used by the communication subsystem 310 and / or the interaction subsystem 320.

[0200] The system bus 343 may include one or more of an Industry Standard Architecture (ISA) bus, an Extended Industry Standard Architecture (EISA) bus, a Video Electronics Standard Association (VESA) bus, a Peripheral Component Interconnect (PCI) bus, a Compact PCI bus, and the like.

[0201] The central control computing system 340 can be a server cluster, where each server in the cluster can provide monitoring, dispatching, and control to networked autonomous vehicles in a distributed manner.

[0202] The central control system may further be arranged to centralize monitoring and control in the hub service area. The communication subsystem 310 may further be arranged to be communicatively connected to the hub service area by a network resource. The monitoring module 344 may further be arranged to obtain service area related parameters by the communication subsystem 310. These service area related parameters include, but are not limited to, one or more of the following: an entrance barrier operation status, an exit barrier operation status, an operation status of each service station, information of vehicles serviced by each service station, etc. The entrance barrier operation status includes, but is not limited to, whether the vehicle identification device and barrier device at the entrance are operating normally, what operation is being performed, etc. The exit barrier operation status includes, but is not limited to, whether the vehicle identification device and barrier device at the exit are operating normally, what operation is being performed, etc. The service station operation status includes, but is not limited to, whether the entity at each service station is operating normally, what operation is being performed, etc. The vehicle information serviced by each service station includes, but is not limited to, the vehicle's identifier and / or status, etc. The interaction module 347 may be further configured to display the service area related parameters via the interaction subsystem 320. The control module 346 may be further configured to generate a control command based on one or more of the service area related parameters, the vehicle related parameters, and the data and / or commands input by an operator, and send the control command to the hub computing system to control one or more of the entrance barriers, the exit barriers, and each entity at each service station to provide vehicle service to the autonomous vehicle.

[0203] The central control system may further be arranged to centrally monitor traffic facilities. The traffic facilities may include, but are not limited to, one or more of public roads, traffic equipment, pipelines, etc. Among them, the public roads may include, but are not limited to, city roads, highways, railroad tracks, etc. The traffic equipment may include, but are not limited to, traffic signals, barrier gates, road cones, spherical mirrors, barricade tapes, traffic signs, etc. The pipelines may include, but are not limited to, power lines, network transmission lines, water supply pipelines, oil supply pipelines, natural gas distribution pipelines, gas distribution pipelines, etc. The central control system may include a monitoring subsystem 330. The monitoring subsystem 330 may be arranged to monitor the location and / or status of one or more traffic facilities. The monitoring subsystem 330 may include, but are not limited to, one or more devices of video cameras, lenses, cloud platforms, protective covers, sensors, alarm detectors, decoders, displays, consoles, etc. The console may be arranged to perform various processing (including but not limited to amplifying, allocating, calibrating, compensating, switching, etc.) on the video signals collected by the video cameras, and to control one or more of the following devices: video cameras, lenses, fog heads, protective covers, alarm detectors, decoders, displays, etc. The monitoring subsystem 330 may be communicatively connected to the interaction subsystem 320. The interaction subsystem 320 may be further arranged to display the location and / or status of one or more traffic facilities monitored by the monitoring subsystem 330. The monitoring subsystem 330 may be communicatively connected to the central control computing system 340. The data storage 342 in the central control computing system 340 is further arranged to store commands for making decisions for the autonomous vehicle based on the data monitored by the monitoring subsystem 330.

[0204] The central control system may include a central control coordination unit CCS-ECU. The central control coordination unit CCS-ECU may include one or more third processors, one or more third memories, and computer commands stored in the third memories and executable by the third processor. When the third processor executes the computer commands in the third memory, it performs functions corresponding to the central control coordination module 349 described below. The central control coordination module 349 may be arranged to determine a vehicle service plan and send the vehicle service plan to a vehicle coordination module in the autonomous vehicle and a hub coordination module in the hub service area. Among them, the third processor may be arranged to be one or more general-purpose processors (e.g., CPU, GPU), one or more application-specific processors (e.g., ASIC), one or more field programmable gate arrays (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and / or one or more microcontrollers, etc., among the processors 341. The third memory may be arranged to be one or more read only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electrically programmable memories (EPROM), one or more electrically programmable erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and / or one or more hard disk drives, etc., of the data storage device 342. The central control coordination module 349 may be implemented as a computer program product, which, when executed on a computer, realizes an autonomous vehicle service method for determining a vehicle service plan and sending the vehicle service plan to a vehicle coordination module in an autonomous vehicle and a hub coordination module in a hub service area.

[0205] FIG. 11 illustrates a central control system according to an embodiment of the present application. The central control system includes a central control and coordination device CCS-ECU, which includes a third processor, a third memory, and computer commands executable by the third processor stored in the third memory. When the third processor executes the computer commands in the third memory, the method executes the method corresponding to the following steps: In S111, the central control and coordination device CCS-ECU determines whether the autonomous vehicle requires vehicle service. In S112, if the central control and coordination device CCS-ECU determines that the autonomous vehicle requires vehicle service, the vehicle service plan is determined and the vehicle service plan is sent to the vehicle coordination device ADV-ECU disposed in the autonomous vehicle and the hub coordination device HUB-ECU disposed in the hub service area.

[0206] 4. Vehicle service system and autonomous vehicle service system As shown in Fig. 5, the vehicle service system may be arranged to include a central control system CCS, at least one autonomous vehicle ADV, and at least one hub service area HUB. As shown in Fig. 6, the autonomous vehicle service system may be arranged to include a central control coordination device CCS-ECU in the central control system CCS, a vehicle coordination device ADV-ECU in the autonomous vehicle ADV, and a hub coordination device HUB-ECU in the hub service area HUB.

[0207] 5 and 6, the central control system CCS can be connected to the autonomous vehicle ADV and the hub service area HUB through network resources. The communication subsystem 310 of the central control system CCS can realize a communication connection with the wireless communication device 401 of the autonomous vehicle ADV and the communication system 260 of the hub service area HUB through the network resources. Hereinafter, the autonomous vehicle ADV communicatively connected to the central control system CCS is abbreviated as an autonomous vehicle on a network, and the hub service area HUB communicatively connected to the central control system CCS is abbreviated as a hub service area on a network.

[0208] Referring to the scenes shown in Figures 5 and 6, when the central control and coordination device CCS-ECU determines that the autonomous vehicle ADV requires vehicle service, it determines a vehicle service plan and sends the determined vehicle service plan to the vehicle coordination device ADV-ECU in the current autonomous vehicle ADV and the hub coordination device HUB-ECU in the hub service area HUB, respectively, and the vehicle coordination device ADV-ECU and the hub coordination device HUB-ECU respectively control the current autonomous vehicle ADV and the entities in the hub service area HUB to achieve interaction according to the vehicle service plan.

[0209] 5. Vehicle Service Plan The vehicle service plan may include an identifier of the current autonomous vehicle, an identifier of a target hub service area, and a vehicle service list. The process of determining the vehicle service plan by the central control and coordination device may include determining a target hub service area and determining a vehicle service list.

[0210] Each autonomous vehicle has a respective identifier, and different identifiers are used to identify different autonomous vehicles, which may include, but are not limited to, the identity ID (e.g., license plate number) of the autonomous vehicle, the network contact address (e.g., MAC address, IP address of the wireless communication device 401), etc. Hereinafter, the autonomous vehicle requiring vehicle service is abbreviated as the current autonomous vehicle. Each hub service area has a respective identifier, and different identifiers are used to identify different hub service areas, which may include, but are not limited to, the identity ID (e.g., name / number of the hub service area, detailed address of the hub service area), the network contact address (e.g., MAC address, IP address of the communication system), etc. The autonomous vehicle requiring vehicle service can be identified by the identifier of the current autonomous vehicle included in the vehicle service plan, and the target hub service area is the hub service area that interacts with the autonomous vehicle and provides vehicle service to the autonomous vehicle. Therefore, the hub service area that provides vehicle service to the autonomous vehicle requiring vehicle service can be identified by the identifier of the target hub service area included in the vehicle service plan.

[0211] The vehicle service list may include names of actual vehicle service items, i.e., service items that the target hub service area actually provides to autonomous vehicles, which may be one or more vehicle service items, such as, for example, lubrication, gas filling, charging, power battery pack replacement, sensor calibration, vehicle fault diagnosis, maintenance and cleaning, body painting, mechanical fault repair, vehicle part replacement, tire repair, electronic element detection and repair, loading, unloading, parking, program update, on-site lubrication, on-site gas filling, on-site charging, power battery pack replacement on-site, vehicle towing, on-site mechanical fault repair, on-site vehicle part replacement, on-site tow replacement, on-site trailer replacement, cargo transfer, passenger transfer, road clearance, injured person rescue, etc.

[0212] The vehicle service list may further include vehicle service times, i.e., execution times of the actual vehicle service items, which may be the start time and / or duration when the one or more actual vehicle service items are executed as a whole, or the start time and / or duration when any one of the one or more actual vehicle service items is executed, where the start time and / or duration may be accurate to the year, month, day, hour, minute, and second information.

[0213] The vehicle service listing may further include a vehicle service location, i.e., the location where the actual vehicle service item is performed, which may be, for example, an area, an address, a hub service area, or other more specific or general location.

[0214] The vehicle service list may further include an order of execution of the actual vehicle service items, i.e., the order in which to perform these actual vehicle service items when more than one actual vehicle service item is to be performed on the autonomous vehicle.

[0215] The vehicle service list may further include an authentication method corresponding to the actual vehicle service item. That is, before the actual vehicle service item is performed, the identities of both parties (the autonomous vehicle receiving the actual vehicle service item and the entity providing the actual vehicle service item) need to be authenticated in advance, and the actual vehicle service item can be performed after the authentication is successful. The authentication method may include a technology type adopted for authentication, the valid identity information of both parties, etc. Among them, the technology type adopted for authentication may include one or more of the following: an identity authentication method based on a public key cryptography algorithm (e.g., Secure Socket Layer (SSL) certificate, digital signature), HTTP Basic Authentication, server-side session-browser-side cookie authentication, token authentication, open authorization (OAuth) authentication, etc., but is not limited thereto. The technology type adopted for authentication may be determined by the authentication technology adopted by the identity authentication device in various service stations.

[0216] The vehicle service list may further include vehicle service fees, i.e., fees corresponding to the actual vehicle service items, which may include fees corresponding to each actual vehicle service item individually or may include fees corresponding to all actual vehicle service items together.

[0217] The vehicle service listing may also include other information.

[0218] 6. Demand for autonomous vehicles The vehicle demands of the autonomous vehicle may include vehicle service items to be received by the autonomous vehicle, which may be one or more service items such as, for example, lubrication, gas filling, charging, power battery pack replacement, sensor calibration, vehicle fault diagnosis, maintenance and cleaning, bodywork painting, mechanical fault repair, vehicle part replacement, tire repair, electronic element detection and repair, loading, unloading, parking, program update, on-site lubrication, on-site gas filling, on-site charging, on-site power battery pack replacement, vehicle towing, on-site mechanical fault repair, on-site vehicle part replacement, on-site tow vehicle replacement, on-site trailer replacement, cargo transfer, passenger transfer, road clearance, and injured person rescue.

[0219] The vehicle demands of the autonomous vehicle may further include desired vehicle service times for the autonomous vehicle, which may include one or more of a range of times to begin receiving vehicle service, a range of times to continuously receive vehicle service, a range of times the vehicle waits for vehicle service after entering a hub service area, etc.

[0220] The vehicle needs of the autonomous vehicle may further include a desired vehicle service location for the autonomous vehicle, which may be an area, an address, or a hub service area.

[0221] The vehicle demand for the autonomous vehicle may further include one or more other information, such as, for example, a fee basis for each vehicle service item that the autonomous vehicle can receive (e.g., a unit price for gasoline, a unit price for loading / unloading services), a total fee for all vehicle service items that the autonomous vehicle can receive, etc.

[0222] The vehicle demand for an autonomous vehicle may be determined by one or more of the following parameters:

[0223] (1) Equipment operating status of an autonomous vehicle: including, but not limited to, the operating status of software and / or hardware equipment included in the autonomous vehicle's power system 100, sensor system 200, actuation system 300, peripheral system 400, and vehicle computing system 500, and the operating status may include, for example, normal operation, failure, hibernation, shutdown, startup, etc. (2) Data stored in the equipment of the autonomous vehicle: including, but not limited to, various data stored in the software equipment and / or hardware equipment included in the autonomous vehicle's power system 100, sensor system 200, actuation system 300, peripheral system 400, and vehicle computing system 500, and this data may include, for example, a planned driving route, point cloud data detected by the object sensor 203, environmental images captured by the image sensor 204, positioning information obtained by the position sensor 201, speed data detected by the vehicle speed sensor 205, acceleration data detected by the acceleration sensor, lane change decision-making, acceleration / deceleration decision-making, etc. (3) Data transmitted between equipment of an autonomous vehicle: including, but not limited to, various data transmitted between software equipment, hardware equipment, and between software equipment and hardware equipment included in the power system 100, sensor system 200, actuation system 300, peripheral system 400, and vehicle computing system 500, and this data may include, for example, a planned driving route, point cloud data detected by the object sensor 203, environmental images captured by the image sensor 204, positioning data obtained by the position sensor 201, speed data detected by the vehicle speed sensor 205, acceleration data detected by the acceleration sensor, lane change decision-making, acceleration / deceleration decision-making, etc. (4) Operating states of autonomous vehicles: including, but not limited to, operating states of autonomous vehicles carrying cargo / passengers, running without a load, parking rest, temporarily parked, waiting to be loaded / unloaded, and loading / unloading. (5) Requirements corresponding to tasks to be performed by the autonomous vehicle, including, but not limited to, the starting point and / or destination of a passenger transport task, the start time and / or end time of a passenger transport task, the starting point and / or destination of a cargo transport task, the start time and / or end time of a cargo transport task, and the type of cargo in a cargo transport task (e.g., everyday items, hazardous materials, frozen products, etc.). (6) Current position of the autonomous vehicle: This may be positioning data (e.g., longitude and latitude information) acquired by the position sensor 201. (7) Driving path of the autonomous vehicle: This may be a planned driving path while driving from a task starting point to a task destination to perform a passenger / cargo transportation task.

[0224] The vehicle demand of an autonomous vehicle may be determined by other parameters. Hereinafter, parameters for determining the vehicle demand of an autonomous vehicle (not limited to the above parameters (1) to (7)) are collectively referred to as vehicle-related parameters.

[0225] The vehicle-related parameters can be obtained by connecting to each software and hardware device in the autonomous vehicle's power system 100, sensor system 200, actuation system 300, peripheral system 400, and vehicle computing system 500.

[0226] 7. Hub Service Area Resources The service area resources of the hub service area may include vehicle service items that the hub service area can provide, which may be one or more service items such as, for example, lubrication, gas filling, charging, power battery pack replacement, sensor calibration, vehicle fault diagnosis, maintenance and washing, bodywork painting, mechanical fault repair, vehicle part replacement, tire repair, electronic element detection and repair, loading, unloading, parking, program updates, on-site lubrication, on-site gas filling, on-site charging, on-site power battery pack replacement, vehicle towing, on-site mechanical fault repair, on-site vehicle part replacement, on-site tow vehicle replacement, on-site trailer replacement, cargo transfer, passenger transfer, road clearance, and injured person rescue.

[0227] The service area resources of a hub service area may further include times when the hub service area is available to provide vehicle service, which may include one or more of a range of times to begin providing vehicle service, a range of times to continuously provide vehicle service, a range of times a vehicle waits for vehicle service after entering the hub service area, etc.

[0228] The service area resources of the hub service area may further include locations where the hub service area can provide vehicle service, which may be an area or an address, such as an area or address where roadside assistance related items can be performed, or a detailed address of the location of the hub service area.

[0229] The service area resources of a hub service area may further include pricing criteria for one or more vehicle service items provided by the hub service area, such as, for example, a unit price of gasoline, a unit price of natural gas, a price standard for charging services, etc.

[0230] The service area resources of the hub service area may further include other information.

[0231] The service area resources of a hub service area may be determined by one or more of the following parameters: (1) The operating status of each service station in the hub service area (2) Number of vehicles entering the hub service area (3) hub service area maintenance plans (plans to repair or maintain entities in the hub service area); The service area resources of the hub service area may be determined by other parameters. Hereinafter, parameters for determining the service area resources of the hub service area (not limited to the above parameters (1) to (3)) are collectively referred to as service area-related parameters.

[0232] 8. Vehicle service plan determination by central control and coordination device 5 and 6, a central control system is connected to a plurality of autonomous vehicles and a plurality of hub service areas through network resources. When a central control coordination device determines that a certain autonomous vehicle (current autonomous vehicle) on the network needs vehicle service, the central control coordination device determines a vehicle service plan.

[0233] 8.1 Referring to the scenes shown in FIG. 5 and FIG. 6, in some embodiments, the process of determining a vehicle service plan by a central control and coordination device may include the following steps A1 to A2.

[0234] In step A1, the central control and coordination device determines whether the current autonomous vehicles require vehicle service.

[0235] In step A2, if the central control and coordination device determines that the current autonomous vehicle requires vehicle service, it determines a vehicle service plan.

[0236] Several representative embodiments of the examples are described below.

[0237] In step A1, the central control and coordination device determines whether the current autonomous vehicles require vehicle service.

[0238] The central control coordination device can actively determine whether the current autonomous vehicle needs vehicle service. The process of the central control coordination device actively determining whether the current autonomous vehicle needs vehicle service may include the following steps A11 to A12.

[0239] In step A11, the vehicle-related parameters are obtained by the central control and coordination device.

[0240] The central control coordination device can obtain vehicle-related parameters through various software and / or hardware devices included in the monitoring module-connected power system 100, the sensor system 200, the actuation system 300, the peripheral device system 400, and the vehicle computing system 500 in the central control system.

[0241] The vehicle-related parameters may include, but are not limited to, one or more of: an equipment operating state of the current autonomous vehicle, data stored in the equipment of the current autonomous vehicle, data transmitted between equipment of the current autonomous vehicle, an operating state of the current autonomous vehicle, a request corresponding to a task performed by the current autonomous vehicle, a current position of the current autonomous vehicle, a driving route of the current autonomous vehicle, etc.

[0242] In step A12, the central control and coordination device determines whether the current autonomous vehicle needs vehicle service based on the vehicle-related parameters.

[0243] The central control coordination unit can utilize the vehicle-related parameters to determine whether the current autonomous vehicles require vehicle service at the current time or at some time in the future.

[0244] The central control coordination device can actively obtain vehicle-related parameters before the current autonomous vehicle starts traveling, and determine whether the current autonomous vehicle needs vehicle service. In one example, the central control coordination device can obtain vehicle-related parameters when the current autonomous vehicle receives a transportation task, and determine whether the current autonomous vehicle needs vehicle service based on the vehicle-related parameters, and the determination result may include that the current autonomous vehicle needs vehicle service at the current time, or that the current autonomous vehicle needs vehicle service at a future time. Wherein, the central control coordination device can be connected to the purchase order processing system through the dispatch module of the central control system to determine whether the current autonomous vehicle has received a transportation task.

[0245] The central control coordination device may also actively acquire vehicle-related parameters during the driving of the current autonomous vehicle and determine whether the current autonomous vehicle requires vehicle service. In one example, the central control coordination device determines whether the current autonomous vehicle requires vehicle service when it determines that the mileage of the current autonomous vehicle has reached a predetermined value based on the acquired vehicle-related parameters.

[0246] The central control coordination device can immediately trigger the process of obtaining vehicle-related parameters and determining whether the current autonomous vehicle needs vehicle service, that is, when the current autonomous vehicle is connected to the network of the central control system, the central control coordination device cyclically obtains vehicle-related parameters and determines whether the current autonomous vehicle needs vehicle service.

[0247] The central control coordination device can trigger the process of obtaining vehicle-related parameters and determining whether the current autonomous vehicle requires vehicle service at a predetermined time interval, for example, the central control coordination device executes the process of obtaining vehicle-related parameters and determining whether the current autonomous vehicle requires vehicle service once every five minutes.

[0248] The central control coordination device can trigger a process to determine whether the current autonomous vehicle requires vehicle service when a predetermined condition is met, which may include one or more of, but is not limited to, the remaining energy is a predetermined percentage of the total energy capacity, the mileage reaches a predetermined value, a new transportation task is received, a predetermined time has passed since the last repair time, a map file of the soon-to-be-reached area is missing, a map file of the soon-to-be-reached area needs to be updated, etc.

[0249] The central control and coordination device acquires vehicle-related parameters at a predetermined time interval and triggers a process of determining whether the current autonomous vehicle requires vehicle service, and can also trigger this determination process when a predetermined condition is met.

[0250] The central control coordination device can also passively determine whether the current autonomous vehicle needs vehicle service. The process of the central control coordination device passively determining whether the current autonomous vehicle needs vehicle service may include the following steps A13 to A15.

[0251] In step A13, the vehicle-related parameters are obtained by the vehicle cooperation device.

[0252] The vehicle cooperation device can acquire vehicle-related parameters by being connected to various software and / or hardware devices included in the power system 100, the sensor system 200, the actuation system 300, the peripheral system 400, and the vehicle computing system 500.

[0253] The vehicle-related parameters may include, but are not limited to, one or more of: an equipment operating state of the current autonomous vehicle, data stored in the equipment of the current autonomous vehicle, data transmitted between equipment of the current autonomous vehicle, an operating state of the current autonomous vehicle, a request corresponding to a task performed by the current autonomous vehicle, a current position of the current autonomous vehicle, a driving route of the current autonomous vehicle, etc.

[0254] In step A14, the vehicle cooperation device determines whether the current autonomous vehicle needs vehicle service based on the vehicle-related parameters.

[0255] The vehicle cooperation system can utilize the vehicle-related parameters to determine whether the current autonomous vehicle requires vehicle service at the current time or at some time in the future.

[0256] The vehicle cooperation device may determine whether a current autonomous vehicle located at its own location needs vehicle service before the current autonomous vehicle starts traveling. In one example, the vehicle cooperation device may determine whether a current autonomous vehicle located at its own location needs vehicle service when the current autonomous vehicle receives a transportation task, and the determination result may include that the current autonomous vehicle needs vehicle service at the current time and may include that the current autonomous vehicle needs vehicle service at a time in the future.

[0257] The vehicle cooperation device may further determine whether the current autonomous vehicle in its location needs vehicle service during the current autonomous vehicle's travel. In one example, the vehicle cooperation device may determine whether the current autonomous vehicle in its location needs vehicle service when the mileage of the current autonomous vehicle reaches a predetermined value.

[0258] The vehicle cooperation device can immediately trigger the process of determining whether the current autonomous vehicle needs vehicle service, i.e., when initiated, the vehicle cooperation device cyclically determines whether the current autonomous vehicle needs vehicle service.

[0259] The vehicle cooperation device may trigger the process of determining whether the current autonomous vehicle needs vehicle service at a predetermined time interval, for example, the vehicle cooperation device executes the process of determining whether the current autonomous vehicle needs vehicle service once every five minutes.

[0260] The vehicle cooperation device can trigger a process to determine whether the current autonomous vehicle requires vehicle service when a predetermined condition is met, which may include one or more of, but is not limited to, the remaining energy is a predetermined percentage of the total energy capacity, the mileage reaches a predetermined value, a new transportation task is received, a predetermined time has passed since the last repair time, a map file of the soon-to-be-reached area is missing, a map file of the soon-to-be-reached area needs to be updated, etc.

[0261] The vehicle cooperation device may trigger a process for determining whether the current autonomous vehicle requires vehicle service at a predetermined time interval, and may also trigger this determination process when a predetermined condition is met.

[0262] In step A15, if the vehicle coordination device determines that the current autonomous vehicle requires vehicle service, a reminder message is sent to the central control coordination device so that the central control coordination device determines that the current autonomous vehicle requires vehicle service.

[0263] In step A2, if the central control and coordination device determines that the current autonomous vehicle requires vehicle service, a vehicle service plan is determined.

[0264] The vehicle service plan may include an identifier for the current autonomous vehicle, an identifier for a target hub service area, and a vehicle service list.

[0265] The process of determining a vehicle service plan by the central control and coordination device may include the following steps A21 to A23.

[0266] In step A21, the central control coordination device determines the identity of the current autonomous vehicle requiring vehicle service.

[0267] In step A22, the central control and coordination device determines the target hub service area and its identifier.

[0268] In step A23, the vehicle service list is determined by the central control and coordination unit.

[0269] Wherein, in step A21, the central control coordination device can obtain an identifier of a current autonomous vehicle by communicating with the vehicle coordination device, and the identifier can be an identity ID and / or a network contact address of the current autonomous vehicle. In one example, the reminder message sent from the vehicle coordination device to the central control coordination device includes the identifier of the current autonomous vehicle.

[0270] The process of determining the target hub service area by the central control and coordination device in step A22 may include the following steps A221 to A224.

[0271] In step A221, the central control and coordination device determines the vehicle demand of the current autonomous vehicles.

[0272] The vehicle demands of the current autonomous vehicle may include one or more pieces of information such as, but not limited to, the vehicle service items that the current autonomous vehicle wishes to receive, the desired time for the current autonomous vehicle to receive vehicle service, the desired location for the current autonomous vehicle to receive vehicle service, the fee basis for each vehicle service item that the current autonomous vehicle can receive, and the total fee for all vehicle service items that the current autonomous vehicle can receive.

[0273] The central control coordination unit can determine vehicle demands of the current autonomous vehicles based on the vehicle-related parameters.

[0274] In step A222, the central control and coordination device obtains service area resources of at least one hub service area.

[0275] The service area resources of a hub service area include, but are not limited to, one or more of the vehicle service items that the hub service area can provide, the times when the hub service area can provide vehicle service, the locations where the hub service area can provide vehicle service, the fee standards for one or more vehicle service items that the hub service area provides, etc.

[0276] The central control coordination device can obtain the service area parameters of each hub service area through the monitoring module in the central control system, and determine the service area resources of the corresponding hub service area based thereon.

[0277] In step A223, the central control and coordination device determines at least one hub service area to match with the current autonomous vehicle based on the vehicle demand of the current autonomous vehicle determined in step A221 and the service area resources of the at least one hub service area obtained in step A222.

[0278] The central control coordination device may determine that the current autonomous vehicle matches with the corresponding hub service area when it is determined that at least some of the information included in the vehicle demand of the current autonomous vehicle determined in step A221 matches with the service area resource of the at least one hub service area obtained in step A222. Among them, the matching of the information includes at least one of the following: the desired vehicle service item of the current autonomous vehicle and the vehicle service item that the hub service area can provide are at least partially the same, there is an overlap between the desired vehicle service time of the current autonomous vehicle and the time when the hub service area can provide the vehicle service, there is an overlap between the desired vehicle service location of the current autonomous vehicle and the location where the hub service area can provide the vehicle service, there is an overlap between the fee standard of each vehicle service item that the current autonomous vehicle can receive and the fee standard of the hub service area providing each vehicle service item, etc.

[0279] For example, the vehicle demand of the current autonomous vehicle includes the desired vehicle service items of the current autonomous vehicle including lubrication and sensor calibration, the desired vehicle service time of the current autonomous vehicle is 16:00-17:00 on August 1, 2019, and the desired vehicle service location of the current autonomous vehicle is a section of the Beijing-Shanghai Expressway in Shandong Province. As for the service area resources of a certain hub service area, the vehicle service items that the hub service area can provide include lubrication, gas filling, charging, power battery pack replacement, sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal painting, mechanical fault repair, tire repair, electronic element detection and repair, and program update, the time that the hub service area can provide vehicle service is 8:00-22:00 on August 1, 2019, and the location where the hub service area can provide vehicle service is a section of the Beijing-Shanghai Expressway in Jining City, Shandong Province. Both include lubrication items and sensor calibration items, there is an overlap in time and an overlap in location, so it can be determined that the current autonomous vehicle and the hub service area are matched.

[0280] In step A224, a target hub service area is determined by the central control coordination device from at least one hub service area that matches the current autonomous vehicle.

[0281] The central control coordination device may comprehensively consider the service area-related parameters of the hub service areas matched with each current autonomous vehicle and the vehicle demands of the current autonomous vehicle to determine whether the corresponding hub service area can provide appropriate vehicle services to the current autonomous vehicle. The central control coordination device may determine the hub service area that can provide appropriate vehicle services to the current autonomous vehicle as the target hub service area.

[0282] The central control coordination device may further select one or more of the multiple matching hub service areas as the target hub service area based on predetermined criteria, which may include, but are not limited to, one or more of the following: the hub service area provides the lowest price standard for vehicle service; the hub service area has the shortest distance from its location to the current autonomous vehicle; the vehicle enters the hub service area and waits the shortest time for vehicle service; and so on.

[0283] The central control coordination device can obtain an identifier of the target hub service area by communicating with a hub coordination device in the target hub service area, and the identifier can be an identity ID and / or a network contact address of the target hub service area.

[0284] The vehicle service list includes, but is not limited to, one or more of actual vehicle service items, execution order of the actual vehicle service items, authentication methods corresponding to the actual vehicle service items, vehicle service times, vehicle service locations, and vehicle service fees.

[0285] In step A23, the step of determining the contents of each item in the vehicle service list by the central control and coordination device may include one or more of steps A231 to A236.

[0286] In step A231, the actual vehicle service item is determined by the central control and coordination device.

[0287] In one example, the step of determining the actual vehicle service item by the central control and coordination device may include the following steps A2311 to A2313.

[0288] In step A2311, a desired vehicle service item for the current autonomous vehicle is determined by a central control coordination device.

[0289] The central control coordination device can obtain vehicle-related parameters by connecting the monitoring module of the central control system to various software and / or hardware devices included in the power system 100, the sensor system 200, the actuation system 300, the peripheral system 400, and the vehicle computing system 500.

[0290] The vehicle-related parameters may include, but are not limited to, one or more of: an equipment operating state of the current autonomous vehicle, data stored in the equipment of the current autonomous vehicle, data transmitted between equipment of the current autonomous vehicle, an operating state of the current autonomous vehicle, a request corresponding to a task performed by the current autonomous vehicle, a current position of the current autonomous vehicle, a driving route of the current autonomous vehicle, etc.

[0291] The central control coordination unit can determine various vehicle service items required for the current autonomous vehicle based on the vehicle-related parameters, i.e., desired vehicle service items for the current autonomous vehicle.

[0292] In step A2312, the central control and coordination device determines the vehicle service items provided by the target hub service area.

[0293] The central control and coordination device can determine the vehicle service items that the target hub service area can provide based on the service area-related parameters of the target hub service area.

[0294] In step A2313, the central control coordination device calculates the intersection between the desired vehicle service items of the current autonomous vehicle determined in step A2311 and the vehicle service items provided by the target hub service area determined in step A2312, and determines the intersection as the actual vehicle service items.

[0295] In step A232, the central control and coordination device determines the execution sequence of the actual vehicle service items.

[0296] The central control and coordination device can determine the execution sequence of the real vehicle service items based on the locations of the service stations corresponding to each real vehicle service item in the target hub service area and / or the dependencies of different real vehicle service items.

[0297] The central control and coordination device can determine the execution sequence of the real vehicle service items based on the locations of the service stations corresponding to each real vehicle service item in the target hub service area and / or the dependencies of different real vehicle service items.

[0298] In the example shown in FIG. 7, the actual vehicle service items that the target hub service area needs to provide include lubrication, sensor calibration, and loading. At the site of the hub service area, a repair service station is located adjacent to the entrance barrier, an energy service station is located adjacent to the exit barrier, and a storage service station is located between the repair service station and the energy service station. Therefore, the central control coordination device can determine the execution order of each vehicle service item in the vehicle service list, such as performing the sensor calibration item first, then the loading item, and finally the lubrication item. The line with arrows in FIG. 7 represents the driving path of the current autonomous vehicle in this example at the target hub service area, and the arrow represents the forward direction of the vehicle.

[0299] In the example shown in FIG. 8, the actual vehicle service items that the target hub service area needs to provide include sensor calibration, unloading, and parking. At the site of the hub service area, a repair service station is located adjacent to the entrance barrier, a parking service station is located close to the exit barrier, and a storage service station is located between the repair service station and the parking service station. Generally, the repair and parking items are performed after the unloading item is completed, so the central control and coordination device can determine the execution order of each vehicle service item in the vehicle service list, such as performing the unloading item first, then the sensor calibration item, and finally the parking item. The line with arrows in FIG. 8 represents the driving path of the current autonomous vehicle in this example at the target hub service area, and the arrow represents the forward direction of the vehicle.

[0300] In step A233, the central control and coordination device determines the authentication method of the actual vehicle service item.

[0301] The central control and coordination device can determine the authentication scheme for each actual vehicle service item based on the authentication scheme adopted by each entity that interacts with the current autonomous vehicle in the target hub service area.

[0302] The authentication method for the actual vehicle service item may include the type of technology employed for authentication, the valid identity information of both parties, and the like.

[0303] For example, if the identity authentication device in the energy service station adopts an authentication mode of SSL certificate, the hub coordination device in the target hub service area may determine that the authentication mode corresponding to refueling includes an SSL certificate authentication mode and at the same time includes the valid identity information of the current autonomous vehicle and the valid identity information of the target hub service area. Wherein, the valid identity information of the current autonomous vehicle may be the identity ID, network contact address or other information for authentication of the current autonomous vehicle. The valid identity information of the target hub service area may be the identity ID, network contact address or other information for authentication of the target hub service area.

[0304] In step A234, vehicle service times are determined by the central control and coordination unit.

[0305] The central control and coordination device can determine, based on the service area-related parameters of the target hub service area, a time when the target hub service area provides vehicle service to the current autonomous vehicle.

[0306] In step A235, a vehicle service fee is determined by the central control and coordination device.

[0307] The central control and coordination device may first determine a fee criterion for each actual vehicle service item, and then calculate, based on the fee criterion, a vehicle service fee for each actual vehicle service item received by the current autonomous vehicle and / or a total vehicle service fee for all actual vehicle service items.

[0308] In step A236, a vehicle service location is determined by the central control and coordination device.

[0309] If the actual vehicle service items (e.g., oiling, gas filling, charging, power battery pack replacement, sensor calibration, automobile fault diagnosis, maintenance and cleaning, bodywork painting, mechanical fault repair, tire repair, electronic element detection and repair, loading, unloading, parking, program update, etc.) are items to be performed in the target hub service area, the central control coordination device directly determines the address of the target hub service area as the vehicle service location.

[0310] When an actual vehicle service item (e.g., on-site refueling, on-site gas filling, on-site charging, on-site power battery pack replacement, vehicle towing, on-site mechanical failure repair, on-site auto part replacement, on-site towing vehicle replacement, on-site trailer replacement, cargo transfer, passenger transfer, road clearance, injured person rescue, etc.) is an item related to roadside assistance, the central control coordination device may first determine an assistance location, and then determine the assistance location as a vehicle service location. Among them, the assistance location may be determined based on the current location of the autonomous vehicle and / or the location of the target hub service area. For example, the assistance location may be the location of the current autonomous vehicle, or may be a location between the current location of the autonomous vehicle and the location of the target hub service area.

[0311] 8.2 In one example, the central control coordination device triggers a process of determining whether the current autonomous vehicle needs vehicle service when the purchase order system distributes a transportation task to the autonomous vehicle ADV-0001 (current autonomous vehicle). After the determination process is triggered, the central control coordination device obtains vehicle-related parameters by connecting the monitoring module of the central control system to each software and / or hardware device included in the power system 100, the sensor system 200, the actuation system 300, the peripheral system 400, and the vehicle computing system 500 of the current autonomous vehicle. The vehicle-related parameters include the following information: (1) The current requirements for the transportation task to be performed by the autonomous vehicle are: loading location is Beijing, unloading location is Shanghai, refrigerated cargo is being transported, the start time is 8:00 on July 29, 2019, and the end time is 18:00 on July 29, 2019. (2) The current route for self-driving vehicles is the Beijing-Shanghai Expressway, starting from Beijing and ending in Shanghai, passing through Tianjin, Hebei, Shandong, and Jiangsu. (3) The current fuel tank capacity of autonomous vehicles is 100 liters, and fuel consumption per 100 km is 20 L.

[0312] Based on the above vehicle-related parameters, the central control coordination device makes the following judgment: The current autonomous vehicle fills the fuel tank with about 100 liters of fuel before departure, and when it travels about 400 kilometers, about 20 liters of fuel remains, at this time, it needs to refuel in a timely manner, the current autonomous vehicle travels along the Beijing-Shanghai Expressway, starts from Beijing, and when it travels to the road section in Jinan City, Shandong Province, it travels about 350-420 kilometers, so it needs to refuel when it travels to the section of the Beijing-Shanghai Expressway in Jinan City, Shandong Province.

[0313] The central control coordination device determines that the current autonomous vehicle needs vehicle service based on the above judgment. Then, the central control coordination device continues to process as follows:

[0314] The central control and coordination unit determines the vehicle demands of the current autonomous vehicle based on the acquired vehicle-related parameters, including the following information: (1) Current desired vehicle service locations for autonomous vehicles include hub service areas along the section of the Beijing-Shanghai Expressway in Dezhou City, Shandong Province, and hub service areas along the section of the Beijing-Shanghai Expressway in Jinan City, Shandong Province. (2) The vehicle service items required for the current autonomous vehicle include lubrication and sensor calibration. Among them, when the current autonomous vehicle travels about 400 kilometers, the remaining fuel in the fuel tank is about 1 / 4 of the total volume, so a lubrication service is required. The laser radar and binocular camera in the current autonomous vehicle are shaken during long-distance driving and need to be recalibrated. (3) The desired vehicle service time for the current autonomous vehicle is inclusive of 12:00-14:00 on July 29, 2019. This time is estimated by the vehicle cooperation device based on information such as the mileage, driving speed, and departure time of the current autonomous vehicle.

[0315] The central control and coordination device determines, based on the vehicle demand of the current autonomous vehicle, that the candidate hub service areas include hub service areas along the section of the Beijing-Shanghai Expressway in Dezhou and Jinan, Shandong Province, and then obtains service area resources of these candidate hub service areas.

[0316] In this example, the Beijing-Shanghai Expressway has a total of nine hub service areas along the section in Dezhou and Jinan, Shandong Province, the identifiers of these hub service areas are SD1 to SD9 respectively, and the service area resources of these hub service areas are as shown in the table below.

[0317] [Table 1]

[0318] The central control coordination device matches the already determined vehicle demand of the current autonomous vehicle with each of the service area resources of the hub service areas SD1 to SD9. As can be seen from the above table, only the hub service areas SD1 and SD9 can provide two items, lubrication and sensor calibration, simultaneously, so the central control coordination device determines the hub service areas SD1 and SD9 as the hub service areas to be matched with the current autonomous vehicle.

[0319] Further, the central control coordination device determines service area related parameters of the hub service areas SD1 and SD9. Among them, the service area related parameters of the hub service area SD1 include that the hub service area SD1 will perform maintenance on an entity corresponding to a sensor calibration item from 12:00 to 13:00 on July 29, 2019. Because this maintenance plan affects the hub service area SD1 to provide vehicle services to the current autonomous vehicles, the central control coordination device determines that the hub service area SD1 cannot provide vehicle services to the current autonomous vehicles. The service area related parameters of the hub service area SD9 include that the hub service area SD9 will perform maintenance on an entity corresponding to a gas filling item from 7:00 to 8:00 on July 29, 2019. Because this maintenance plan does not affect the hub service area SD9 to provide vehicle services to the current autonomous vehicles, the central control coordination device determines the hub service area SD9 as the target hub service area.

[0320] After the current autonomous vehicle drives and enters the hub service area SD9, the central control and coordination device again connects to each software and / or hardware device included in the power system 100, the sensor system 200, the actuation system 300, the peripheral system 400, and the vehicle computing system 500 of the current autonomous vehicle to obtain vehicle-related parameters. In this case, the vehicle-related parameters include the following information: (1) The current requirements for the transportation task to be performed by the autonomous vehicle are: loading location is Beijing, unloading location is Shanghai, refrigerated cargo is being transported, the start time is 8:00 on July 29, 2019, and the end time is 18:00 on July 29, 2019. (2) The current route for self-driving vehicles is the Beijing-Shanghai Expressway, starting from Beijing and ending in Shanghai, passing through Tianjin, Hebei, Shandong, and Jiangsu. (3) The current fuel tank volume of an autonomous vehicle is 100 liters, and the fuel consumption per 100 km is approximately 20 L, leaving 15 L of remaining fuel. (4) The high-precision map file for Jiangsu province stored in the vehicle computing system 500 is version 1.0.

[0321] According to the latest determined vehicle-related parameters, the central control coordination device determines that in addition to the two service items of lubrication and sensor calibration, the current autonomous vehicle also has other vehicle demands, and this part of the new vehicle demands includes a program update item. This is because the central control coordination device finds that the version of the high-precision map file of Jiangsu Province stored in the vehicle computing system 500 is behind the latest version number 2.0 issued by the network by comparing the version of the high-precision map file of Jiangsu Province stored in the vehicle computing system 500 with the latest version number issued by the network, and therefore needs to be updated in a timely manner.

[0322] Thus, the central control coordination unit determines that actual vehicle service items include lubrication, sensor calibration and program updates.

[0323] In this example, at the site of hub service area SD9, the network service station is located adjacent to the entrance barrier, the energy service station is located adjacent to the exit barrier, and the repair service station is between the network service station and the energy service station. Thus, the central control and coordination device determines the order in which the current autonomous vehicles undergo vehicle service items, such as first performing the program update item, then the sensor calibration item, and finally the lubrication item.

[0324] In this example, the three actual vehicle service items, i.e., lubrication, sensor calibration, and program update, all need to be completed within the hub service area, so the central control and coordination device determines the vehicle service location as the address of hub service area SD9, i.e., hub service area No. SD9 on the G2 Jing-Shu Expressway, Laiwu District, Jinan City, Shandong Province.

[0325] In this example, the vehicle service list determined by the central control and coordination device includes at least the information shown in Table 1.

[0326] [Table 2]

[0327] 8.3 In one example, the vehicle cooperation device instantly determines whether the current autonomous vehicle ADV-0001 needs vehicle service during the driving of the current autonomous vehicle ADV-0001. In this example, the vehicle cooperation device is connected to each software device and / or hardware device included in the power system 100, the sensor system 200, the actuation system 300, the peripheral device system 400, and the vehicle computing system 500 of the current autonomous vehicle to instantly obtain vehicle-related parameters, and determine whether the current autonomous vehicle needs vehicle service based on the vehicle-related parameters. At a certain time, the vehicle-related parameters include the following information:

[0328] (1) The current requirements for the transportation task to be performed by the autonomous vehicle are: loading location is Beijing, unloading location is Shanghai, refrigerated cargo is being transported, the start time is 8:00 on August 29, 2019, and the end time is 18:00 on August 29, 2019. (2) The current route for self-driving vehicles is the Beijing-Shanghai Expressway, starting from Beijing and ending in Shanghai, passing through Tianjin, Hebei, Shandong, and Jiangsu. (3) The current fuel tank volume of an autonomous vehicle is 100 liters, the fuel consumption per 100 km is 20 L, and the current remaining fuel amount is 30 L. (4) The left front wheel, right front wheel, left rear wheel, and right rear wheel are all Linglong 6.50R16 type tires. (5) The maximum load of the single tires (front left, front right, rear left and rear right) is 975kg / 2150LBS, and the maximum load of the double tires is 875kg / 2150LBS, and the maximum safe air pressure is 560kpa / 81PSI. (6) The tire air pressure of the left front wheel is 510 kpa, the tire air pressure of the right front wheel is 400 kpa, the tire air pressure of the left rear wheel is 550 kpa, and the tire air pressure of the right rear wheel is 550 kpa. (7) The vehicle speed is 90 km / h. (8) Negative acceleration is 5 m / s.

[0329] According to the above vehicle-related parameters, the vehicle cooperation device makes the following judgments: the tire pressure of the right rear wheel and the tire pressure of the left rear wheel are the same and both are at normal levels, the tire pressure of the left front wheel is at normal levels, the tire pressure of the right front wheel is lower than that of the left front wheel and the difference is greater than 20%, the tire pressure of the right front wheel is at an abnormal level, the current autonomous vehicle is decelerating, the right front wheel has a tire puncture or burst phenomenon and needs to be repaired, and the remaining fuel amount is 30L and fuel needs to be replenished in a timely manner.

[0330] The vehicle coordination device determines that the current autonomous vehicle requires vehicle service based on the above judgment, and sends a reminder message to the central control coordination device, where the reminder message includes the identifier ADV-0001 of the current autonomous vehicle.

[0331] After receiving the reminder message, the central control coordination device determines that the current autonomous vehicle requires vehicle service, and then the central control coordination device continues to process as follows.

[0332] The central control and coordination device obtains the vehicle-related parameters (as specifically described above), and determines the vehicle demands of the current autonomous vehicle based on the vehicle-related parameters, including the following information:

[0333] (1) The desired vehicle service location of the current autonomous vehicle is 117 degrees 45 minutes 1.3 seconds east longitude and 36 degrees 13 minutes 16.6 seconds north latitude, which is the GPS position obtained after the current autonomous vehicle gradually decelerated and stopped in an emergency parking lane in a section of the Beijing-Shanghai Expressway in Laiwu District, Jinan City, Shandong Province. (2) Current desired vehicle service items for autonomous vehicles include on-site replacement of auto parts (tires) and on-site lubrication.

[0334] The central control coordination device compares the vehicle demand with the service area resources of each hub service area connected to the central control system to determine whether each hub service area is matched with the current autonomous vehicle. In this matching process, since the desired vehicle service location of the current autonomous vehicle is located in the section of the Beijing-Shanghai Expressway in Laiwu District, Jinan City, Shandong Province, it is determined that the hub service areas that are not located along the section of the Beijing-Shanghai Expressway in Jinan City, Shandong Province are not matched based on the principle of support within a close range. There are a total of five hub service areas along the section of the Beijing-Shanghai Expressway in Jinan City, Shandong Province, and the identifiers of these hub service areas are SD5 to SD9, respectively, and the service area resources of these hub service areas are as shown in the table below.

[0335] [Table 3]

[0336] The central control coordination device respectively matches the above vehicle demands with the service area resources of the hub service areas SD5 to SD9. As can be seen from the above table, the hub service areas SD6 and SD9 can both provide on-site auto part replacement items and on-site oil filling items, so the central control coordination device determines that the hub service areas SD6 and SD9 are to be matched with the current autonomous driving vehicle.

[0337] Furthermore, the central control coordination device determines that the distance between hub service area SD6 and the current autonomous vehicle is smaller than the distance between hub service area SD9 and the current autonomous vehicle (thereby determining that hub service area SD6 can provide vehicle service faster), and therefore determines that hub service area SD6 is the target hub service area.

[0338] After that, the central control coordination device sends a notification message to the hub coordination device of the hub service area SD6, and the notification message includes information that the hub service area SD6 is selected as the target hub service area.

[0339] The central control and coordination device determines a vehicle service list including at least the information shown in Table 2 based on the basic information of the current autonomous vehicles and the above vehicle demands.

[0340] [Table 4]

[0341] Based on the above vehicle service list, the central control and coordination device dispatches entities at roadside assistance service stations in the target hub service area SD6 to vehicle service locations to provide on-site tire changing service for the current autonomous vehicles.

[0342] 9. Current autonomous vehicles interact with entities in the hub service area according to the vehicle service plan.

[0343] 5 and 6, after the central control coordination device determines a vehicle service plan, the vehicle service plan is sent to the vehicle coordination device of the current autonomous vehicle and the hub coordination device of the target hub service area respectively, and then the current autonomous vehicle and the entities in the hub service area interact according to the vehicle service plan.

[0344] Wherein, the vehicle service plan may include an identifier of a current autonomous vehicle, an identifier of a target hub service area, and a vehicle service list, The vehicle service list may include one or more of the following contents: actual vehicle service items, execution sequence of the actual vehicle service items, authentication methods corresponding to the actual vehicle service items, vehicle service times, vehicle service locations, and vehicle service fees.

[0345] 9.1 Referring to the scenes shown in FIG. 5 and FIG. 6, in some embodiments, a process of a current autonomous vehicle and an entity in a hub service area interacting according to a vehicle service plan includes the following steps B1 to B5.

[0346] In step B1, the vehicle cooperation device determines a target hub service area based on an identifier of the target hub service area included in the vehicle service plan; if the hub cooperation device determines that the hub service area corresponding to itself is the target hub service area based on the identifier of the target hub service area included in the vehicle service plan, it continues to determine a current autonomous vehicle requiring vehicle service based on an identifier of the current autonomous vehicle included in the vehicle service plan.

[0347] Wherein, the identifier of the current autonomous vehicle may include an identity ID and / or a network contact address of the current autonomous vehicle, and the identifier of the target hub service area may include an identity ID and / or a network contact address of the target hub service area.

[0348] The central control coordination device may send a notification message to the hub coordination device of the target hub service area, including that the corresponding hub service area has already been determined as the target hub service area, so that the hub coordination device of the target hub service area determines the hub service area corresponding to itself as the target hub service area based on the notification message.

[0349] In step B2, if the vehicle service location included in the vehicle service list is an address of a target hub service area, the vehicle cooperation device controls the current autonomous vehicle to drive into the target hub service area.

[0350] If the actual vehicle service items included in the vehicle service list do not belong to roadside assistance related items, the vehicle service location is the location of the target hub service area. For example, vehicle service items such as oiling, gas filling, charging, power battery pack replacement, sensor calibration, vehicle fault diagnosis, maintenance and cleaning, bodywork painting, mechanical fault repair, vehicle part replacement, tire repair, electronic element detection and repair, loading, unloading, parking, program update, etc., all need to be performed in the target hub service area.

[0351] The process of controlling the current autonomous vehicle to drive and enter the target hub service area by the vehicle cooperation device may include: sending the address of the target hub service area as a destination to the navigation module 504 of the current autonomous vehicle, and planning a driving route through the navigation module 504 based on the current position of the current autonomous vehicle and the destination, and further including the positioning fusion module 501, the sensing module 502, the driving state determination module 503, the navigation module 504, the decision-making module 505, the driving control module 506, and the task receiving module in the current autonomous vehicle working together to realize the current autonomous vehicle driving from its current position to the destination and entering the target hub service area.

[0352] In step B3, the hub coordination device determines a service station in the target hub service area corresponding to each actual vehicle service item included in the vehicle service list, and the vehicle coordination device controls the current autonomous vehicle to travel to reach the service station corresponding to each actual vehicle service item in the target hub service area according to each actual vehicle service item included in the vehicle service list.

[0353] Each hub service area includes one or more service stations, such as an energy service station, a repair service station, a storage service station, a parking service station, a network service station, etc. An entity at each service station can provide one or more vehicle service items to the autonomous vehicle. For example, the energy service station can provide vehicle service items such as oiling, gas filling, charging, and power battery pack replacement, the repair service station can provide vehicle service items such as sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal painting, mechanical fault repair, automobile part replacement, tire repair, electronic element detection and repair, the storage service station can provide vehicle service items such as loading and unloading, the parking service station provides parking service items, and the network service station provides program update service items.

[0354] The process of controlling the current autonomous vehicle to travel to the service station corresponding to each actual vehicle service item in the target hub service area by the vehicle cooperation device may include the following steps B31 to B32.

[0355] In step B31, the vehicle cooperation device determines the driving route of the current autonomous vehicle in the target hub service area.

[0356] The vehicle cooperation device can plan a driving route of the current autonomous vehicle in the target hub service area based on the high-precision map of the target hub service area. The high-precision map of the target hub service area can include distribution information of service areas, road areas, entrances and exits. The distribution information of the service areas can include the specific distribution situation of each service station and the layout situation of entities in each service station. The distribution information of the road areas can include information such as road types, road connection situations, traffic signs, pedestrian crossings, road geometric features, etc.

[0357] The vehicle cooperation device determines, based on the execution order of each actual vehicle service item included in the vehicle service list, in what order the current autonomous vehicle should reach the corresponding service stations, and further determines the distribution situation of the corresponding service stations according to the high-precision map of the target hub service area; and finally, based on the order in which the current autonomous vehicle will reach the corresponding service stations and the distribution situation of the corresponding service stations, determines what driving route the current autonomous vehicle should follow in the target hub service area.

[0358] The vehicle coordination device obtains the driving route planned for the current autonomous vehicle by the hub coordination device of the target hub service area, and controls the driving of the current autonomous vehicle at the target hub service. The hub coordination device of the target hub service area can plan a driving route for the current autonomous vehicle based on the high-precision map of the target hub service area. The hub coordination device of the target hub service area can also plan a driving route for the current autonomous vehicle based on the execution order of each actual vehicle service item included in the vehicle service list, and further according to the location of the service station corresponding to each actual vehicle service item.

[0359] In step B32, the vehicle cooperation device controls the current autonomous vehicle to travel along the driving route to reach the service station corresponding to each actual vehicle service item in the target hub service area.

[0360] The vehicle cooperation device can send the determined driving route to the decision-making module 505 of the current autonomous vehicle, cause it to generate waypoint information for the vehicle based on the driving route, and further control the operating system 300 based on the waypoint information via the driving control module 506 to drive the current autonomous vehicle to drive according to the waypoint information.

[0361] In step B4, after the current autonomous vehicle arrives at the service station, it interacts with entities in the service station controlled by the hub coordination device under the control of the vehicle coordination device to accomplish actual vehicle service items.

[0362] The vehicle cooperation device and the hub cooperation device respectively control the current autonomous vehicle and the entity in the target hub service area to authenticate each other according to the authentication manner of each actual vehicle service item included in the vehicle service list, and after the current autonomous vehicle and the entity in the target hub service area are successfully authenticated, they interact to achieve the corresponding actual vehicle service item.

[0363] The authentication method may include the technology type adopted for authentication, both valid identity information, etc. Among them, the technology type adopted for authentication may include, but is not limited to, one or more of the following: identity authentication method based on public key cryptography algorithm (e.g., SSL certificate, digital signature), HTTP Basic Authentication, server-side session-browser-side cookie authentication, token authentication, open authorization (OAuth) authentication, etc.

[0364] When the entity is a device such as a fuel injection machine, a gas filling machine, an AC charging pile, a DC charging pile, an AC / DC integrated charging pile, a battery exchange station, a crane, a transport robot, a loading / unloading stage, an electric barrier gate, a billing device, or a program update device, current autonomous vehicles can directly authenticate with the corresponding device.

[0365] When the entity is an operator, the current autonomous vehicle can mutually authenticate with the terminal device held by the operator.

[0366] The vehicle cooperation device can control the current autonomous vehicle to pay the entity in the target hub service area based on the vehicle service fee included in the vehicle service list. The current autonomous vehicle can pay the fee to the entity in the target hub service area in the form of contact card swipe or network deduction. The vehicle service fee may include a fee corresponding to each actual vehicle service item individually, or may include a fee corresponding to all the actual vehicle service items as a whole. The payment process may be to pay for each completed actual vehicle service item immediately after the completion of the actual vehicle service item, or to pay all the actual vehicle service items in a lump sum after the completion of all the actual vehicle service items.

[0367] The hub collaboration device can determine, based on the vehicle service fee included in the vehicle service list, whether the fee paid by the current autonomous vehicle to the entity in the target hub service area matches the vehicle service fee included in the vehicle service list; if they do not match, it indicates that the fee paid by the current autonomous vehicle is incorrect and needs to be repaid or returned.

[0368] In step B5, the vehicle cooperation device and the hub cooperation device record logs during the interaction process between the current autonomous vehicle and entities in the target hub service area.

[0369] The vehicle cooperation device and / or the hub cooperation device can record a log in the process of the current autonomous vehicle and the entities in the target hub service area interacting to accomplish each actual vehicle service item. The log may include one or more pieces of information, such as the start time, end time, duration, and content of the actual vehicle service item. Among them, the content of the actual vehicle service item may include the operation object (e.g., tire, engine), the model number of the operation object (e.g., tire model number, engine model number), the operation name (tire replacement or puncture repair, engine replacement), etc.

[0370] 9.2 Referring to the scenes shown in FIG. 5 and FIG. 6, in some embodiments, the process of the current autonomous vehicle and an entity in the hub service area interacting according to the vehicle service plan includes the following steps C1 to C5.

[0371] In step C1, the vehicle cooperation device determines a target hub service area based on an identifier of the target hub service area included in the vehicle service plan; if the hub cooperation device determines that the hub service area corresponding to itself is the target hub service area based on the identifier of the target hub service area included in the vehicle service plan, then determines a current autonomous vehicle based on an identifier of the current autonomous vehicle included in the vehicle service plan.

[0372] Wherein, the identifier of the current autonomous vehicle may include an identity ID and / or a network contact address of the autonomous vehicle, and the identifier of the target hub service area may include an identity ID and / or a network contact address of the target hub service area.

[0373] The central control coordination device may send a notification message to the hub coordination device of the target hub service area, including that the corresponding hub service area has already been determined as the target hub service area, so that the hub coordination device of the target hub service area determines the hub service area corresponding to itself as the target hub service area based on the notification message.

[0374] In step C2, if the vehicle service location included in the vehicle service list is an assistance location, the hub coordination device first determines the assistance location, and then determines one or more entities for providing each actual vehicle service item according to each actual vehicle service item included in the vehicle service list, and dispatches these entities to the assistance location, and the vehicle coordination device determines whether the current autonomous vehicle has reached the assistance location.

[0375] If the actual vehicle service items included in the vehicle service list belong to roadside assistance-related items, the vehicle service location is the site of roadside assistance, i.e., the assistance location. For example, vehicle service items such as on-site refueling, on-site gas filling, on-site charging, on-site power battery pack replacement, vehicle towing, on-site mechanical failure repair, on-site auto part replacement, on-site towing vehicle replacement, on-site trailer replacement, cargo transfer, passenger transfer, road clearance, and injured person rescue all need to be performed at the assistance location.

[0376] The assistance location may be the current autonomous vehicle location or a location between the current autonomous vehicle location and the location of the target hub service area.

[0377] In step C3, if the vehicle cooperation device determines that the current autonomous vehicle has already reached the assistance location, it determines whether an entity in the target hub service area has reached the assistance location.

[0378] The vehicle cooperation device can detect various entities (not limited to those from the target hub service area) at the assistance location using sensors (e.g., cameras, laser radar, etc.) in the autonomous vehicle and / or communicate with various entities (not limited to those from the target hub service area) at the assistance location using peripheral devices (e.g., wireless communication devices, wired communication interfaces, microphones, touch screen displays, etc.) in the autonomous vehicle, thereby determining whether entities in the target hub service area have reached the assistance location.

[0379] In step C4, after determining that the entities dispatched by the hub coordination device have reached the assistance location, control the interaction between these entities and the current autonomous vehicles controlled by the vehicle coordination device to accomplish each actual vehicle service item.

[0380] The vehicle cooperation device and the hub cooperation device can respectively control the current autonomous vehicle and the entities from the target hub service area that have arrived at the assistance location to authenticate each other according to the authentication method of each actual vehicle service item included in the vehicle service list, and after the current autonomous vehicle and these entities from the target hub service area have been successfully authenticated, they interact with each other to achieve the corresponding actual vehicle service item.

[0381] The authentication method may include the technology type adopted for authentication, both valid identity information, etc. Among them, the technology type adopted for authentication may include, but is not limited to, one or more of the following: identity authentication method based on public key cryptography algorithm (e.g., SSL certificate, digital signature), HTTP Basic Authentication, server-side session-browser-side cookie authentication, token authentication, open authorization (OAuth) authentication, etc.

[0382] If the entity is a device such as a mobile repair vehicle, a mobile energy vehicle, a tow truck, a spare tow truck, a spare trailer, a spare auto part, a spare passenger car, a spare commercial vehicle, a road traffic device, an ambulance, etc., current autonomous vehicles can directly authenticate with the corresponding device.

[0383] When the entity is an operator, the current autonomous vehicle can mutually authenticate with the terminal device held by the operator.

[0384] The vehicle cooperation device can control the current autonomous vehicle to pay the entity in the target hub service area at the assistance location based on the vehicle service fee included in the vehicle service list. The current autonomous vehicle can pay the fee to the entity in the target hub service area in the form of contact card swipe or network deduction. The vehicle service fee may include a fee corresponding to each actual vehicle service item individually, or may include a fee corresponding to all the actual vehicle service items as a whole. The payment process may be to pay for each completed actual vehicle service item immediately after the completion of the actual vehicle service item, or to pay all the actual vehicle service items in a lump sum after the completion of all the actual vehicle service items.

[0385] The hub collaboration device can determine, based on the vehicle service fee included in the vehicle service list, whether the fee paid by the current autonomous vehicle to the entity in the target hub service area matches the vehicle service fee included in the vehicle service list; if they do not match, it indicates that the fee paid by the current autonomous vehicle is incorrect and needs to be repaid or returned.

[0386] In step C5, the vehicle cooperation device and the hub cooperation device record logs during the interaction process between the current autonomous vehicle and entities in the target hub service area.

[0387] The vehicle cooperation device and / or the hub cooperation device can record a log in the process of the current autonomous vehicle and the entities in the target hub service area interacting to accomplish each actual vehicle service item. The log may include one or more pieces of information, such as the start time, end time, duration, and content of the actual vehicle service item. Among them, the content of the actual vehicle service item may include the operation object (e.g., tire, engine), the model number of the operation object (e.g., tire model number, engine model number), the operation name (tire replacement or puncture repair, engine replacement), etc.

[0388] 9.3 Following the example in section 8.2 above, the vehicle service list will include at least the following information:

[0389] [Table 5]

[0390] In this example, the vehicle cooperation device controls the current autonomous vehicle ADV-0001 to travel to the G2 Jing-Shu Expressway section in Laiwu District, Jinan City, Shandong Province, and enter the target hub service area SD9.

[0391] The current autonomous vehicle ADV-0001 passes through the entrance barrier at the entrance to Target Hub Service Area SD9 and enters Target Hub Service Area SD9.

[0392] The vehicle cooperation device of the current autonomous vehicle ADV-0001 plans a driving route for the current autonomous vehicle ADV-0001 based on the three actual vehicle service items (lubrication, program update, and sensor calibration) included in the above vehicle service list, the execution sequence of these three actual vehicle service items (first perform program update, then perform sensor calibration, and finally lubrication), and the high-precision map of the target hub service area SD9.

[0393] Based on the above driving route, the current autonomous vehicle ADV-0001 will first drive to a network service station, then to a repair service station, and finally to an energy service station.

[0394] After the current autonomous vehicle ADV-0001 arrives at the network service station, it first performs mutual authentication with the program update device at the network service station. After the authentication is successful, the wireless communication device 401 or wired communication interface of the current autonomous vehicle ADV-0001 is successfully connected to the program update device, and receives services such as inspection and update from the program update device. The inspection module of the program update device inspects and determines the versions of algorithm modules such as the positioning fusion module 501, the sensing module 502, the driving state determination module 503, the navigation module 504, the decision-making module 505, the driving control module 506, and the task receiving module in the current autonomous driving vehicle ADV-0001, and the versions of high-precision electronic maps of Beijing, Tianjin, Hebei, Shandong, Jiangsu, etc. used; the search module searches for the latest versions of these electronic files on the network; the comparison module compares the versions of these electronic files in the current autonomous driving vehicle ADV-0001 with the corresponding latest versions, and finds that the version 1.0 of the high-precision map file of Jiangsu Province used in the current autonomous driving vehicle ADV-0001 is behind the latest version number 2.0 issued on the network, and it needs to be updated in a timely manner, so the update module downloads the version 2.0 of the high-precision map file of Jiangsu Province from the network to update the high-precision map file of Jiangsu Province in the current autonomous driving vehicle ADV-0001. In this process, the vehicle coordination device or hub coordination device records log information such as the authentication results of the current autonomous driving vehicle ADV-0001 and the program update device, that the updated electronic file is a high-precision map file for Jiangsu Province, that the update content is updating the high-precision map file for Jiangsu Province from version 1.0 to version 2.0, and the connection and disconnection times of the current autonomous driving vehicle ADV-0001 and the program update device.

[0395] In this example, after the current autonomous vehicle ADV-0001 arrives at the network service station, it may authenticate with the network connection device in the network service station and connect. After the two are connected, the current autonomous vehicle ADV-0001 can connect to a specific network, for example, a program update network platform for this type of autonomous vehicle, through the network connection device. The current autonomous vehicle ADV-0001 first uses its own program update algorithm to search and determine the versions of its algorithm modules such as its positioning fusion module 501, sensing module 502, driving state determination module 503, navigation module 504, decision-making module 505, driving control module 506, task receiving module, and the versions of the high-precision electronic maps of each province and city used, then searches for the latest versions of these electronic files in the specific network connected, and compares the versions of these electronic files in the current autonomous vehicle ADV-0001 with the corresponding latest versions. If it finds that the version of a certain electronic file is behind the latest version number issued by the network, it downloads the latest version of the electronic file from the specific network and updates it in the current autonomous vehicle ADV-0001. In this process, the vehicle collaboration device or the hub collaboration device can record corresponding log information.

[0396] In this example, an operator can utilize a handheld terminal to interact with a current autonomous vehicle, ADV-0001, to pay for a program update item.

[0397] After the program update item is completed, the current autonomous vehicle ADV-0001 drives to a repair service station. After the current autonomous vehicle ADV-0001 enters the repair service station, it first performs mutual authentication with the identity authentication device in the service station. After the authentication is successful, the operator at the repair service station uses a handheld terminal to find that the autonomous vehicle needs a sensor calibration service, and then the operator at the repair service station uses a checkerboard target to calibrate the binocular camera of the current autonomous vehicle ADV-0001 and uses a corner reflector to calibrate the laser radar of the current autonomous vehicle ADV-0001. In this calibration process, the operator modifies the relevant parameters of the binocular camera or laser radar of the current autonomous vehicle ADV-0001 through a peripheral device such as a handheld terminal or a touch screen display of the current autonomous vehicle ADV-0001. During the entire calibration process, the vehicle cooperation device or hub cooperation device records log information such as the authentication results of the current autonomous vehicle ADV-0001 and the identity authentication device, that the calibration objects are the binocular camera and the laser radar, that the calibration equipment includes a checkerboard target and a corner reflector, the numerical values ​​of each parameter before and after calibration, the start time and end time of the binocular camera calibration by the operator, the start time and end time of the laser radar calibration by the operator, and the name and / or number of the operator.

[0398] In this example, the current autonomous vehicle ADV-0001 may mutually authenticate with the operator's handheld terminal after entering a repair service station, and perform a subsequent calibration process after successful authentication.

[0399] In this example, an operator can utilize a handheld terminal to interact with the current autonomous vehicle ADV-0001 to pay for a sensor calibration item.

[0400] After the sensor calibration item is completed, the current autonomous vehicle ADV-0001 drives to the energy service station. After the current autonomous vehicle ADV-0001 enters the energy service station, it first performs mutual authentication with the identity authentication device in the service station. After the authentication is successful, the operator at the repair service station uses a handheld terminal to grasp the capacity of the fuel tank of the autonomous vehicle, the current remaining fuel amount, and the amount of fuel that needs to be filled, and then the operator operates the oil gun of the oil filling machine to align it with the fuel tank inlet of the autonomous vehicle and fill it. After filling the required amount of fuel, the handheld terminal can display and calculate the fuel cost. In this process, the vehicle cooperation device or hub cooperation device records log information such as the authentication result of the current autonomous vehicle ADV-0001 and the identity authentication device, the numerical value of the amount of fuel filled, the fuel cost, the time when the operator holds the oil gun and aligns it with the fuel tank inlet and releases it, and the name and / or number of the operator.

[0401] In this example, the current autonomous vehicle ADV-0001 may mutually authenticate with the operator's handheld terminal after entering a repair service station, and perform a subsequent calibration process after successful authentication.

[0402] In this example, an operator can utilize a handheld terminal to interact with a current autonomous vehicle ADV-0001 to pay for a fueling item.

[0403] After the sensor calibration items are completed, the current autonomous vehicle ADV-0001 drives to the exit of the target hub service area SD9 and exits the target hub service area SD9 after passing through the exit barrier.

[0404] In this example, the current autonomous vehicle ADV-0001 may interact with a payment device at the exit of the target hub service area SD9 to pay a combined fee for the program update item, the sensor calibration item, and the lubrication item in one lump sum payment.

[0405] 9.4 Following the example in section 8.3 above, the vehicle service list will include at least the following information:

[0406] [Table 6]

[0407] In this example, the vehicle cooperation device obtains location data collected by an on-board positioning device of the current autonomous vehicle ADV-0001, and determines based on the location data whether the current autonomous vehicle ADV-0001 has reached the assistance location, i.e., a geographical location corresponding to 117 degrees 45 minutes 1.3 seconds east longitude and 36 degrees 13 minutes 16.6 seconds north latitude, which is in an emergency parking lane in a section of the Beijing-Shanghai Expressway in Laiwu District, Jinan City, Shandong Province.

[0408] After determining that the current autonomous vehicle ADV-0001 has reached the assistance location, the vehicle cooperation device detects various entities in the assistance location using a camera and laser radar on the autonomous vehicle ADV-0001, and communicates with the various entities in the assistance location using peripheral devices such as a wireless communication device, a wired communication interface, a microphone or a touch screen display of the autonomous vehicle ADV-0001.

[0409] The hub coordination device of the target hub service area SD6 dispatches the mobile energy vehicle and the operator based on the above vehicle service list, and simultaneously carries the handheld terminal, spare auto parts such as tires, etc. to reach the support location.

[0410] After reaching the assistance location, the operator indicates that he or she is from the target hub service area SD6 by operating the touch screen display on the current autonomous vehicle ADV-0001, and at the same time, the vehicle coordination device determines that an entity in the target hub service area SD6 has reached the assistance location.

[0411] In this example, an operator may connect with a handheld terminal to a wireless communication device of autonomous vehicle ADV-0001 and send a message to indicate that he or she is from target hub service area SD6.

[0412] The operator who arrives at the assistance location authenticates with the vehicle coordination device of the current autonomous vehicle ADV-0001 through the handheld terminal. After the authentication is successful, the operator removes the faulty tire (right front tire) of the current autonomous vehicle ADV-0001 and replaces the new tire brought from the target hub service area SD6 in the right front tire position, thus achieving the service item of replacing the tire on site. In this process, the operator may use the handheld terminal to take photos and / or videos of the entire service process. The vehicle coordination device records log information such as the authentication result between the vehicle coordination device and the handheld terminal, the model number of the faulty tire, the model number of the new tire, the price of the new tire, the start time of the removal of the faulty tire by the operator, the completion time of the installation of the new tire by the operator, and the name and / or number of the operator.

[0413] After the tire change item is completed on-site, the operator uses the handheld terminal to grasp the capacity of the fuel tank of the autonomous vehicle, the current remaining fuel amount, and the amount of fuel that needs to be filled, and then the operator operates the mobile energy vehicle to refuel the current autonomous vehicle ADV-0001, and after the required amount of fuel is filled, the handheld terminal can display and calculate the fuel cost. In this process, the vehicle cooperation device records log information such as the value of the amount of fuel filled, the fuel cost, the start time and end time of refueling, and the name and / or number of the operator.

[0414] The operator uses a handheld terminal to interact with the current autonomous vehicle ADV-0001 to pay for two items: on-site replacement of a vehicle part (tires) and on-site lubrication.

[0415] After accomplishing the two items of on-site automotive part (tire) replacement and on-site lubrication, the current autonomous vehicle ADV-0001 continues to drive to accomplish the corresponding transportation task, and the operator and mobile energy vehicle return to the target hub service area SD6 carrying the handheld terminal and the broken tire.

[0416] According to the above description of the embodiments, for the sake of ease of explanation and simplification, the division of each of the above functional modules has been merely described as an example, but it is clear to those skilled in the art that in actual application, the allocation of the above functions may be achieved by different functional modules as necessary, that is, the internal structure of the device may be divided into different functional modules to achieve all or part of the functions described above.

[0417] It is understood that in some embodiments provided by the present application, the disclosed apparatus and method may be realized in other forms. For example, the above-described apparatus embodiments are merely schematic, and the division of the modules or units is merely a division of logical functions, and may adopt other division forms when actually realized, for example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not implemented. In addition, the coupling or direct coupling or communication connection between the shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

[0418] The units described above as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, i.e., located in one place or distributed across multiple different places. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of the present embodiment. Note that each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist physically alone, or two or more units may be integrated into one unit. The integrated units may be realized in the form of hardware or software functional units.

[0419] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it may be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application may be substantially or partially embodied in the form of a software product, and the software product includes a number of commands that cause an apparatus (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method according to each embodiment of the present application. The aforementioned storage medium includes various media capable of storing program codes, such as a USB flash drive, a hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0420] The above description is merely a specific embodiment of the present application, and the scope of protection of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. 1. A method of providing services to an autonomous vehicle, comprising: In response to the autonomous vehicle needing vehicle service, determining a vehicle service plan; transmitting the vehicle service plan to the vehicle coordination device located in the automated vehicle and to the hub coordination device located in the target hub service area, respectively, such that the automated vehicle controlled by the vehicle coordination device and entities in the target hub service area controlled by the hub coordination device interact in accordance with the vehicle service plan; Including, responsive to the autonomous vehicle needing the vehicle service, determining the vehicle service plan; determining the target hub service area and a vehicle service list in response to the autonomous vehicle needing the vehicle service; In response to the autonomous vehicle needing the vehicle service, determining the target hub service area and the vehicle service list may specifically include: determining a vehicle demand for the automated vehicle in response to the automated vehicle needing the vehicle service; determining the target hub service area based on a vehicle demand of the autonomous vehicle and a service area resource of at least one hub service area; determining the vehicle service list based on vehicle demand of the autonomous vehicle and service area resources of the target hub service area; Including, determining the vehicle service list based on vehicle demand of the autonomous vehicle and service area resources of the target hub service area, determining an intersection between a desired vehicle service item of the autonomous vehicle included in the vehicle demand of the autonomous vehicle and a vehicle service item in a service area resource of the target hub service area provided by the target hub service area as an actual vehicle service item; determining a location of the target hub service area as a vehicle service location in response to the actual vehicle service items not including roadside assistance related items; responsive to the actual vehicle service items including a roadside assistance related item, determining a location of the automated vehicle and determining a vehicle service location based on at least one of the location of the automated vehicle and a location of the target hub service area; determining an execution sequence of the actual vehicle service items based on one or more of: locations of service stations corresponding to the actual vehicle service items in the target hub service area, dependencies of different actual vehicle service items, and service area-related parameters of the target hub service area; determining an authentication method for the actual vehicle service item based on an authentication method adopted by an entity for performing the actual vehicle service item in the target hub service area; determining a time when the target hub service area provides vehicle service to the autonomous vehicle based on a service area-related parameter of the target hub service area; or determining a fee scale for the actual vehicle service item; and calculating a vehicle service fee for the actual vehicle service item based on the fee scale. method.

2. The method further includes determining whether the autonomous vehicle requires the vehicle service, specifically, When the autonomous vehicle determines whether the autonomous vehicle requires the vehicle service before the autonomous vehicle starts traveling, When determining whether the autonomous vehicle requires the vehicle service during the traveling of the autonomous vehicle, When the autonomous vehicle immediately determines whether the vehicle service is required, periodically determining whether the autonomous vehicle requires the vehicle service at a predetermined time interval; determining whether the automated vehicle requires the vehicle service in response to satisfying a predetermined condition; determining whether the autonomous vehicle requires the vehicle service based on a vehicle-related parameter of the autonomous vehicle; determining whether the autonomous vehicle requires the vehicle service depending on whether a reminder message is received, the reminder message being sent when the vehicle cooperation device determines that the autonomous vehicle requires vehicle service based on vehicle-related parameters of the autonomous vehicle; The method of claim 1.

3. The demand for autonomous vehicles is as follows: a desired vehicle service item for the autonomous vehicle; a desired vehicle service time for the autonomous vehicle; or one or more desired vehicle service locations for the autonomous vehicle; The service area resources of the target hub service area include: vehicle service items provided by the target hub service area; the times when the target hub service area provides vehicle service; one or more of the pricing criteria for vehicle services provided by the target hub service area; The method of claim 1.

4. Determining the target hub service area based on a vehicle demand of the autonomous vehicle and a service area resource of the at least one hub service area includes: matching vehicle demands of the autonomous vehicle with service area resources of the at least one hub service area; determining, in response to at least a partial match between a vehicle demand of the automated vehicle and service area resources of the at least one hub service area, that the automated vehicle and a corresponding hub service area are matched; determining the target hub service area from the hub service areas matching the autonomous vehicle based on a vehicle demand of the autonomous vehicle and a service area-related parameter of the hub service area matching the autonomous vehicle; Includes The method of claim 1.

5. A central control and collaboration device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, the processor, when executing the computer program, performs the method of any one of claims 1 to 4.

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