WO2021042294A1

WO2021042294A1 - Hub service area demand resolution system and method

Info

Publication number: WO2021042294A1
Application number: PCT/CN2019/104405
Authority: WO
Inventors: 吴楠
Original assignee: 北京图森智途科技有限公司
Priority date: 2019-09-04
Filing date: 2019-09-04
Publication date: 2021-03-11
Also published as: CN114365159A; CN114365159B

Abstract

A hub service area demand resolution system, comprising: a central control coordination device configured in a central control system, a vehicle coordination device configured in an auto-driving vehicle, and a hub coordination device configured in a hub service area. The central control coordination device is used for determining a demand solution when judging that the hub service area has a service area demand, and separately sending the demand solution to the vehicle coordination device and the hub coordination device, so that the auto-driving vehicle is controlled by the vehicle coordination device to interact, according to the demand solution, with an entity in the hub service area controlled by the hub coordination device. The system can not only assist the hub service area in operating well and ensure that the hub service area provides a vehicle service for the auto-driving vehicle, but also effectively improve the operation efficiency of the auto-driving vehicle.

Description

System and method for solving requirements of hub service area

Technical field

The embodiment of the application relates to the field of intelligent transportation, and more specifically, the embodiment of the application relates to a system and method for solving the needs of a hub service area.

Background technique

This section is intended to provide background or context for the implementation of the application stated in the claims. The description here is not admitted to be prior art just because it is included in this section.

In recent years, the logistics industry is gradually moving towards digital informatization and artificial intelligence. Advanced digital information technology and artificial intelligence technology not only help improve the service quality and operational efficiency of the logistics industry, but also effectively reduce logistics costs and greatly promote logistics The development of the industry.

Road freight is one of the main forms of logistics transportation. With the gradual improvement of road construction and road network structure, the road freight industry still has a large room for growth in the future.

Auto-Driving Vehicle (ADV) has shown a practical trend in recent years. Because it can greatly reduce labor costs and significantly improve transportation efficiency, it can be widely used in the road freight industry.

Summary of the invention

Generally speaking, an autonomous vehicle is a smart mobile device that uses an on-board sensor system to perceive the road environment, uses a computer system to plan a driving route and controls the power system to work to reach a predetermined destination. Similar to traditional cars, self-driving cars also need energy supplements and services such as maintenance and repairs. Therefore, there will be road infrastructure that can provide these services for self-driving cars. And this type of highway infrastructure itself also has some requirements. How to use autonomous vehicles to solve the needs of such highway infrastructure has become an emerging topic in the field of autonomous driving.

In view of the above-mentioned problems, the present application provides a method and system for solving the requirements of a hub service area that overcomes the above-mentioned problems or at least partially solves the above-mentioned problems.

In the first aspect of the implementation of the present application, a method for solving the needs of a hub service area is provided, the method is applied to a central control coordination device, and the method includes: when the central control coordination device determines that there is a service area demand in the hub service area , Determine the demand solution; the central control coordination device sends the demand solution to the vehicle coordination device configured in the autonomous vehicle and the hub coordination device configured in the hub service area, so that the autonomous vehicle is in the vehicle coordination device The entity in the hub service area under the control of the hub coordination device interacts with the entities in the hub service area under the control of the hub coordination device according to the demand solution.

In the second aspect of the implementation of the present application, a method for solving the needs of a hub service area is provided, which is applied to a hub coordination device, the hub coordination device is configured in a hub service area, and the hub service area further includes at least one entity The method includes: the hub coordination device receives a demand solution sent by the central control coordination device; the demand solution is determined by the central control coordination device when it determines that there is a service area demand in the hub service area; the hub coordination device is based on the demand The solution is to control the interaction between entities in the service area of the hub and autonomous vehicles.

In the second aspect of the embodiments of the present application, a method for solving the needs of a hub service area is provided, the method is applied to a vehicle coordination device, the vehicle coordination device is configured in an autonomous vehicle, and the method includes: vehicle coordination The equipment receives the demand solution sent by the central control coordination device; the demand solution is determined by the central control coordination device when it determines that there is a service area demand in the hub service area; the vehicle coordination device controls the autonomous vehicle and Entity interaction in the hub service area.

In the third aspect of the embodiments of the present application, a central control coordination device is provided. The vehicle coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor. When the computer program is running, the aforementioned method for solving the needs of the hub service area applied to the central control coordination device is executed.

In the fourth aspect of the implementation of the present application, a central control system is provided, the central control system includes a central control coordination device; the central control coordination device is used to determine the demand when it is judged that there is a service area demand in the hub service area Solution, and send the demand solution to the vehicle coordination device configured in the autonomous vehicle and the hub coordination device configured in the hub service area, so that the autonomous vehicle and the hub are under the control of the vehicle coordination device. The entities in the hub service area under the control of the coordination device interact according to the demand solution.

In the fifth aspect of the implementation of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, it is applied to the hub service area requirements of the central control coordination device. Solution.

In the sixth aspect of the embodiments of the present application, a hub coordination device is provided. The hub coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor. The processor is When the computer program is run, the aforementioned method for solving the needs of the hub service area applied to the hub coordination device is executed.

In the seventh aspect of the implementation of the present application, a hub service area is provided, the hub service area includes a hub coordination device and at least one entity; the hub coordination device is used to receive a demand solution sent by a central control coordination device , And control the interaction between entities in the hub service area and the autonomous vehicle according to the demand solution, which is determined by the central control coordination device when judging that there is a service area demand in the hub service area.

In the eighth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, it realizes the aforementioned hub service area requirements applied to a hub coordination device. Solution.

In a ninth aspect of the embodiments of the present application, a vehicle coordination device is provided. The vehicle coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor. The processor is When the computer program is run, the aforementioned method for solving the needs of the hub service area applied to the vehicle coordination device is executed.

In the tenth aspect of the embodiments of the present application, an autonomous driving vehicle is provided, the autonomous driving vehicle includes a vehicle coordination device; the vehicle coordination device is used to receive a demand solution sent by a central control coordination device, and according to all The demand solution controls the interaction between the autonomous vehicle and the entities in the hub service area; the demand solution is determined by the central control coordination device when it determines that there is a service area demand in the hub service area.

In the eleventh aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, the aforementioned application to the hub service area of the vehicle coordination device is realized. Demand solution.

In the twelfth aspect of the embodiments of the present application, a system for solving the needs of a hub service area is provided. The system for solving the needs of a hub service area includes: a central control coordination device configured in a central control system, and an autonomous driving vehicle The vehicle coordination device in the hub and the hub coordination device configured in the hub service area; the central control coordination device is used to determine a demand solution when judging that the hub service area has a service area demand, and send the demand solution to The vehicle coordination device and the hub coordination device, so that the autonomous vehicle, under the control of the vehicle coordination device, interacts with entities in the hub service area under the control of the hub coordination device in accordance with the demand solution .

In a twelfth aspect of the implementation of this application, a vehicle service system is provided, the vehicle service system includes: a central control system, an autonomous vehicle, and a hub service area; the central control system includes a central control coordination device; The autonomous vehicle includes vehicle coordination equipment; the hub service area includes a hub coordination device and an entity; the central control coordination device is used to determine a demand solution when judging that there is a service area demand in the hub service area, and to compare the demand The solutions are respectively sent to the vehicle coordination device and the hub coordination device; the vehicle coordination device is used to control the autonomous vehicle to interact with entities in the hub service area according to the demand solution; The hub coordination device controls the entities in the hub service area to interact with the autonomous vehicle according to the demand solution.

This application provides a solution to determine demand based on the existing service area needs of the hub service area, and autonomous vehicles will assist in solving these service area needs. This solution can not only assist the hub service area to operate well, but also ensure that the hub The service area can provide vehicle services for autonomous vehicles, and can also effectively improve the operational efficiency of autonomous vehicles, which is conducive to the promotion and development of autonomous driving technology.

Other features and advantages of the present application will be described in the following description, and partly become obvious from the description, or understood by implementing the present application. The purpose and other advantages of the application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings.

The technical solution of the present application will be further described in detail below through the accompanying drawings and embodiments.

Description of the drawings

By reading the following detailed description with reference to the accompanying drawings, the above and other objectives, features, and advantages of the exemplary embodiments of the present application will become easier to understand. In the drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, in which:

Fig. 1 schematically shows the system structure of an autonomous vehicle according to an embodiment of the present application;

Fig. 2 schematically shows a plan view of a hub service area according to an embodiment of the present application;

Figure 3 schematically shows a system structure of a hub service area according to an embodiment of the present application;

Fig. 4 schematically shows the system structure of a central control system according to an embodiment of the present application;

Fig. 5 schematically shows a scene diagram of a vehicle service system according to an embodiment of the present application;

Fig. 6 schematically shows a scene diagram of an autonomous driving car service system according to an embodiment of the present application;

Fig. 7 schematically shows an autonomous driving vehicle according to an embodiment of the present application;

Fig. 8 schematically shows a hub service area according to an embodiment of the present application;

Fig. 9 schematically shows a central control system according to an embodiment of the present application;

In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

detailed description

The principle and spirit of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are only provided to enable those skilled in the art to better understand and then implement the application, but not to limit the scope of the application in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

Those skilled in the art know that the implementation manners of the present application can be implemented as a system, device, device, method, or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

For ease of understanding, the technical terms involved in this application are explained as follows:

The "autonomous driving vehicle" mentioned in this application can be realized by using automatic driving technology to carry people (such as family cars, buses, etc.) and cargo (such as ordinary trucks, vans, drop trailers, closed trucks, tanks, etc.). Type trucks, flatbed trucks, container trucks, dump trucks, special structure trucks, etc.) or vehicles with special rescue functions (such as fire trucks, ambulances, etc.).

The terminals involved in this application may include, but are not limited to, mobile phones, tablet computers, desktop computers, portable notebook computers, etc.

The term "and/or" in this application is merely an association relationship describing associated objects, which means that there can be three types of relationships. For example, A and/or B can mean that there is A alone, and both A and B exist. There are three cases of B.

The character "/" in this application generally indicates that the associated objects before and after are in an "or" relationship.

Any number of elements in the drawings are for example rather than limitation, and any naming is only used for distinction and does not have any limiting meaning.

The principle and spirit of the application are explained in detail below with reference to several representative embodiments of the application.

1. Autonomous driving vehicle ADV

Self-driving vehicles can be realized with automatic driving technology with manned functions (such as family cars, buses, etc.), carrying functions (such as ordinary trucks, vans, drop trailers, enclosed trucks, tank trucks, flat trucks, etc.) , Container trucks, dump trucks, trucks with special structures, etc.) or vehicles with special rescue functions (such as fire trucks, ambulances, etc.).

Fig. 1 shows the structure of an automatic driving 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 device 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 other embodiments, the units and components shown in FIG. 1 may also be combined or divided in any number.

The power system 110 may be configured to provide motion power for the vehicle. The power system 110 includes one or more of an engine/motor 111, an energy source 112, a transmission 113, and wheels/tires 114.

The engine/motor 111 can be any combination of an internal combustion engine, an electric motor, a steam engine, and a Stirling engine, or other motors and engines. In some embodiments, the power system 110 may include multiple types of engines and/or motors. For example, a gas-electric hybrid vehicle may include a gasoline engine and an electric motor.

The energy source 112 may be an energy source 112 that powers the engine/motor 111 in whole or in part. The engine/motor 111 may be configured to convert the energy source 112 into mechanical energy. The energy source 112 may include gasoline, diesel, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source 112 may additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and/or flywheels. In some embodiments, the energy source 112 may also provide energy for other units of the vehicle.

The transmission 113 may be configured to send mechanical power from the engine/motor 111 to the wheels/tires 114. To this end, the transmission 113 may include a gearbox, a clutch, a differential, a drive shaft, and/or other components. In embodiments where the transmission 113 includes a drive shaft, the drive shaft may include one or more axles configured to be coupled to the wheels/tires 114.

The wheels/tires 114 can be configured in any form, including single-wheel, double-wheel, three-wheel, four-wheel, six-wheel, and so on. Other wheel/tyre 114 forms are also possible, such as forms including eight or more wheels. In any case, the wheels/tires 114 may be configured to rotate differentially relative to the other wheels/tires 114. In some embodiments, the wheel/tire 114 may include at least one wheel fixedly attached to the transmission 113, and at least one tire that may be in contact with the road surface and coupled to the rim of the vehicle. The wheel/tire 114 may include any combination of metal and rubber, or a combination of other materials.

The power system 110 may additionally or alternatively include other components in addition to the aforementioned components.

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

The external sensor 121 may include a plurality of sensors configured to sense information of the environment in which the vehicle is located, and one or more actuators 1217 configured to modify the position and/or direction of the sensors. For example, the external sensor 121 may include one or more of a position sensor 1211, an inertial sensor 1212, an object sensor 1213, and an image sensor 1214.

The position sensor 1211 can be any sensor that estimates the geographic position of the vehicle, such as GPS positioning equipment, carrier phase differential RTK positioning equipment, Beidou satellite positioning system positioning equipment, GLONASS positioning system positioning equipment, Galileo positioning system positioning equipment, global positioning system Navigation satellite system GNSS positioning equipment. The position sensor 1211 may include a transceiver that estimates the position of the vehicle relative to the earth.

The inertial sensor 1212 may be any combination of sensors configured to sense changes in the position and direction of the vehicle according to inertial acceleration, such as an inertial measurement unit IMU. In some embodiments, the inertial sensor 1212 may include an accelerometer and a gyroscope.

The object sensor 1213 may be any sensor that uses radio signals or laser signals to sense objects in the environment where the vehicle is located, such as radar, laser rangefinder, and lidar. In some embodiments, in addition to sensing objects, radar and lidar may additionally sense the speed and/or driving direction of the object. In some embodiments, the object sensor 1213 may include a transmitter that emits a radio signal or a laser signal and a detector that detects the radio signal or a laser signal.

The image sensor 1214 may include any camera (for example, a still camera, a video camera, etc.) for taking an image of the environment in which the vehicle is located.

In addition, the external sensor 121 may also include other sensors, such as any sensor used to detect the distance of an object, for example, a sonar 1215, an ultrasonic sensor 1216, and the like.

The internal sensor 122 may include a plurality of sensors configured to detect information corresponding to the 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.

The vehicle speed sensor 1221 may be any sensor that detects the speed of the vehicle.

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

The yaw rate sensor 1223 may be any sensor that detects the yaw rate (rotation angular velocity) of the vertical axis of the vehicle around the center of gravity, for example, a gyro sensor.

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

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

The brake pedal sensor 1225 may be any sensor that detects the stepping amount of the brake pedal, and the brake pedal sensor 1225 is provided, for example, on the shaft portion of the brake pedal. The brake pedal sensor 1225 may detect the operating force of the brake pedal (depression force on the brake pedal, pressure of the master cylinder, etc.).

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

In addition, the internal sensor 122 may also include other sensors, such as sensors that monitor various components in the vehicle (for example, an oxygen monitor, a fuel gauge, an engine oil thermometer, etc.).

In some examples, the sensor system 120 may be implemented as a plurality of sensor combinations, and each sensor combination is configured to be installed on a corresponding position of the vehicle (eg, top, bottom, front, rear, left, right, etc.) .

The actuation system 130 may be configured to control the driving behavior of the vehicle. The actuation system 130 may include one or more of a steering module 131, a throttle valve module 132, and a brake module 133.

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

The throttle module 132 may be any combination of devices that control the operating speed of the engine/motor 111 and control the speed of the vehicle by adjusting the air supply amount (throttle opening) of the engine.

The braking module 133 may be any combination of devices that decelerate the vehicle. For example, the braking module 133 may use friction to decelerate the wheels/tires 114.

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

The wireless communication device 141 may be configured to directly or wirelessly connect to one or more devices included in the power system 110, the sensor system 120, the actuation system 130, the peripheral device system 140, and the vehicle computing system 150, and directly or wirelessly. Ground connection to one or more of other vehicles, central control systems, and entities in the hub service area. The wireless communication device 141 may include those based on techniques for communicating over wireless communication antenna and chipset, wherein the wireless communication technique may include a Global System for Mobile Communications (Global System for Mobile Communications, GSM ), general packet radio service (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 (Blue Tooth, BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (Near Field Communication, NFC), infrared technology (Infrared, IR). GNSS can include Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Beidou Navigation Satellite System (BDS), Quasi-zenith Satellite System (Quasi-zenith Satellite System, QZSS) and/or Satellite Based Augmentation Systems (SBAS).

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

The touch screen display 143 may be used by the user to input commands to the vehicle. The touch screen display 143 may be configured to sense the position and/or movement of the user's finger through capacitance sensing, resistance sensing, or surface acoustic wave processing. The touch screen display 143 can sense finger movement in a direction parallel or coplanar with the touch screen surface, a direction perpendicular to the touch screen surface, or both directions, and can also sense the pressure level applied to the touch screen surface. The touch screen display 143 may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conductive layers. The touch screen display 143 may also be configured in other forms.

The microphone 144 may be configured to receive sound signals (eg, voice commands or other audio input) and convert the sound signals into electrical signals.

The speaker 145 may be configured to output audio.

The peripheral device system 140 may further or alternatively include other components.

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

The processor 151 may be configured to execute instructions stored in the data storage device 152 to perform various functions, including but not limited to the positioning fusion module 1501, the sensing module 1502, the driving state determination module 1503, Functions corresponding to the navigation module 1504, the decision module 1505, the driving control module 1506, and the task receiving module 1507. The processor 151 may include a general-purpose processor (for example, CPU, GPU), a special-purpose processor (for example, an application-specific integrated circuit (ASIC)), a field programmable gate array (FPGA), and a digital signal processor (DSP). , Integrated circuits, microcontrollers, etc. one or more combinations. In the case where the processor 151 includes a plurality of processors 151, these processors 151 can work individually or in combination.

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 read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card ( eMMC), hard drive, or any combination of one or more of volatile or non-volatile media. The data storage device 152 may be integrated with the processor 151 in whole or in part. The data storage device 152 may be configured to store instructions that can be executed by the processor 151 to perform various functions. These functions include, but are not limited to, the positioning fusion module 1501, the sensing module 1502, the driving state determination module 1503, and the navigation system as described below. Module 1504, decision-making module 1505, driving control module 1506, task receiving module 1507 corresponding functions.

The positioning fusion module 1501 can be configured to receive environmental data, location data or other types of data sensed from the sensor system 120, and process these data through timestamp alignment, fusion calculation, etc., to obtain fused environmental data and vehicles. Location data. The positioning fusion module 1501 may include, for example, a Kalman filter, a Bayesian network, and algorithms that implement other functions.

The perception module 1502 may be configured to receive the fused environment data calculated by the positioning fusion module 1501, and perform computer vision processing on it to recognize objects and/or features in the environment where the vehicle is located. The objects and/or features include, for example, lanes. Lines, pedestrians, other vehicles, traffic signals, basic transportation facilities, etc. The perception module 1502 may use an object recognition algorithm, a Structure from Motion (SFM) algorithm, video tracking, or other computer vision technology. In some embodiments, the perception module 1502 may be further configured to map the environment, track objects, estimate the speed of the objects, and so on.

The driving state determination module 1503 recognizes the driving state of the vehicle based on the data obtained by the internal sensor 122 in the sensor system 120, including, for example, vehicle speed, acceleration, or yaw rate.

The task receiving module 1507 may be configured to receive tasks, analyze the loading and unloading address, cargo category, loading and unloading time and other information contained in the task, and send the information to the navigation module 1504.

The navigation module 1504 may be configured as any unit that determines the driving path of the vehicle. The navigation module 1504 may be further configured to dynamically update the driving path during the operation of the vehicle. In some embodiments, the navigation module 1504 may be configured to determine the driving of 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. path.

The decision-making module 1505 can be configured to generate the vehicle’s information based on the driving path calculated by the navigation module 1504, the vehicle position data calculated by the positioning fusion module 1501, and the objects and/or features in the environment where the vehicle is identified by the perception module 1502. Waypoint information. The waypoint in the waypoint information is the trajectory point of the vehicle in the driving path.

The driving control module 1506 may be configured to receive the waypoint information generated by the decision module 1505, and control the actuation system 130 according to the waypoint information, so that the vehicle drives according to the waypoint information.

The data storage device 152 may also be configured to store other instructions, including sending data to one or more of the power system 110, the sensor system 120, the actuation system 130, and/or the peripheral system 140, and receive data therefrom, Instructions to interact with and/or control it. The data storage device 152 may also be configured to store other instructions. For example, the data storage device 152 may store instructions for controlling the operation of the transmission 113 to improve fuel efficiency, may store instructions for controlling the image sensor 1214 to capture environmental images, and may store instructions for generating vehicles based on data sensed by the object sensor 1213. Instructions for the three-dimensional image of the environment in which they are located, and instructions for recognizing the electrical signals converted by the microphone 144 into voice commands may be stored.

The data storage device 152 may also be configured to store other instructions. In addition to storing instructions, the data storage device 152 may also be configured to store a variety of information, such as image processing parameters, training data, high-precision maps, path information, and so on. During the operation of the vehicle in an automatic mode, a semi-automatic mode, and a manual mode, this information 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.

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 device system 140 through a system bus, a network, and/or other connection mechanisms.

The vehicle computing system 150 may directly connect to the wireless communication device 141 in the peripheral equipment system 140 through a data line or wirelessly through a wireless communication technology, and then wirelessly connect to the hub service area and/or the central control system through the wireless communication device 141.

The vehicle computing system 150 may also be a plurality of computing devices that control individual components or individual systems of the vehicle in a distributed manner.

The vehicle computing system 150 may additionally or alternatively include other components.

The vehicle computing system 150 may include a vehicle coordination device ADV-ECU. The vehicle coordination device ADV-ECU may include one or more first processors, one or more first memories, and stored in the first memory and may be stored in the first memory. Computer instructions running on a processor. When the first processor is running the computer instructions in the first memory, it executes the functions corresponding to the vehicle coordination module 1509 as described below. The vehicle coordination module 1509 may be configured to control the autonomous driving vehicle to interact with entities in the hub service area according to the demand solution determined by the central control coordination module 349 of the central control system. Among them, the first processor may be configured as one or more general-purpose processors (for example, CPU, GPU), one or more special-purpose processors (for example, ASIC), and one or more field programmable gate arrays in the processor 151. (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and/or, one or more microcontrollers, etc. The first memory may be configured as one or more read-only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electronic devices in the data storage device 152 Programmable memory (EPROM), one or more electrically programmable and erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and/or, one or more hard drives, etc. The vehicle coordination module 1509 can be implemented as a computer program product. When the computer program product runs on a computer, it realizes the control of the autonomous driving vehicle and the hub service area according to the vehicle service plan determined by the central control coordination module 349 of the central control system. The solution to the needs of the hub service area for entity interaction.

As shown in FIG. 7 is an autonomous driving vehicle according to an embodiment of the present application. The autonomous driving vehicle is equipped with a vehicle coordination device ADV-ECU. The vehicle coordination device ADV-ECU includes a first processor, a first memory, and a storage device. Computer instructions on the first memory and executable on the first processor. When the first processor is running the computer instructions in the first memory, the method corresponding to the following steps is executed: S71, the vehicle coordination device ADV-ECU receives the demand solution sent by the central control coordination device CCS-ECU of the central control system; S72 , The vehicle coordination equipment ADV-ECU controls the interaction between the autonomous vehicle and the entities in the hub service area according to the demand solution.

2. Hub Service Area HUB

The hub service area can have one or more vehicle service items that can provide supplementary energy for autonomous vehicles, vehicle maintenance, vehicle maintenance, vehicle cleaning, loading, unloading, cargo storage, upgrade procedures, parking, weighing, and payment. The function of the place. The hub service area can also have other functions, such as providing one or more functions such as industrial manufacturing, railway transportation, air transportation, and highway area rest services. For example, the hub service area can be a highway port, a sea port, a freight distribution center, a logistics park, an industrial park, a warehouse, a railway station, an airport, an expressway service area, a gas station, a gas station, and other places.

Fig. 2 is a schematic plan view of a hub service area according to this embodiment, and Fig. 3 is a system structure diagram of the hub service area. As shown in FIG. 2, the hub service area may be configured to include a venue 210, an entrance 220, an exit 230, one or more service stations, and a hub control room 270.

The site 210 is the ground and the space area on the ground occupied by the entire hub service area. The venue 210 may be divided into a service area and a road area. The service area is configured for setting up service sites. The road area is configured for vehicles to travel in the field 210.

The entrance 220 is configured for vehicles to enter the field 210. The entrance 220 may be provided with an entrance road card 221 for allowing or denying vehicles to enter the site 210. The entrance road card 221 may be configured to include a vehicle identification device and a road card device. The vehicle identification device may include any device for detecting a vehicle approaching the entrance 220 and identifying the identity of the vehicle. For example, it may include one or more of a vehicle detector, a camera, and a card reader. The road card equipment can be one or more of electric retractable doors, electric sliding doors, and electric barriers.

The exit 230 is configured for vehicles to exit the field 210. The exit 230 may be provided with an exit road card 231 for allowing or denying the vehicle to leave the field 210. The exit road card 231 may be configured to include a vehicle identification device, a toll payment device, and a road card device. The vehicle identification device may include any device for detecting a vehicle approaching the exit 230 and identifying the identity of the vehicle. For example, it may include one or more of a vehicle detector, a camera, and a card reader. The road card equipment can be one or more of electric retractable doors, electric sliding doors, and electric barriers. The payment device may be configured to collect the total cost of all vehicle services provided by the hub service area paid by the autonomous vehicle. The payment device can be configured to connect to the electronic bank via the network, and is used to receive the fees paid by the vehicle through network transfer.

As shown in Figure 2, each service station is set in the service area, which may include but not limited to energy service station 241, maintenance service station 242, storage service station 243, parking service station 244, network service station 245, and road rescue service station 246 One or more of the service stations such as the spare car service station 247.

As shown in FIG. 2 and FIG. 3, the hub control room 270 is provided in the service area, and the hub computing system 250 and the communication system 260 can be provided in the hub control room 270.

The energy service station 241 may be configured to provide vehicle service items related to energy supplementation for vehicles, including but not limited to: refueling, refilling, charging, and replacing power battery packs.

The energy service station 241 may include any entity (including one or more of the area occupied by the service station and the ground facilities, machinery and equipment and operators in the area) for providing energy supplement service items for vehicles. The energy service station 241 can include fuel dispensers, gas dispensers, AC charging piles, DC charging piles, AC and DC integrated charging piles, switching stations, firefighting equipment, energy controller 2411, operators, terminal equipment, identity verification equipment and monitoring One or more of entities such as equipment.

A fuel dispenser is a device that can replenish liquid fuel for a vehicle. Fuel dispensers can be used to supplement vehicles with gasoline, diesel or other types of liquid fuels for automobiles. In an embodiment, the fuel dispenser may include one or more of oil tanks, oil pipelines, submersible pumps, oil pumps, oil and gas recovery systems, flow meters, solenoid valves, oil guns, and the like.

A gas dispenser is a device that can replenish gas fuel for a vehicle. The gas dispenser can be used to supplement vehicles with Liquefied Petroleum Gas (LPG), Compressed Natural Gas (CNG), Liquefied Natural Gas (LNG) or other types of gas fuel for automobiles. The gas dispenser can include one of a mass flow meter, a pressure sensor, an electric control system, an explosion-proof control power supply, a pneumatic valve, a ball valve, a stop valve, a safety valve, a metal hose, an air filling gun, a return air gun, a gas pipeline, etc. Multiple.

The 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 can be a floor-mounted or wall-mounted charging pile, and it can also be in the form of one charging pile (a charging pile can only charge one vehicle) or a multi-charging form (a charging pile can charge multiple vehicles ) Of the charging pile.

The DC charging pile is a power supply device that can convert AC power from the grid into DC power and then provide it to electric vehicles. The DC charging pile can be a floor-mounted or wall-mounted charging pile, and it can also be in the form of a charging pile (a charging pile can only charge one vehicle) or a multi-charging form (a charging pile can charge multiple vehicles ) Of the charging pile.

The AC-DC integrated charging pile is a power supply device that can provide both AC power and DC power for electric vehicles. The AC-DC integrated charging pile can be a floor-mounted or wall-mounted charging pile, and it can also be in the form of a charging pile (a charging pile can only charge one vehicle) or a multi-charging form (a charging pile can be multiple A vehicle charging) charging pile.

The replacement station can quickly replace the power battery pack for electric vehicles. In one embodiment, the swap station may include multiple power battery packs and a warehouse dedicated to storing the power battery packs. In another embodiment, the swap station may further include one or more of a DC charging pile, an AC charging pile, and an AC/DC integrated charging pile, for charging the replaced power battery pack.

Fire-fighting equipment can be any equipment used for fire prevention, explosion protection, lightning protection, and anti-static. For example, it can include fire extinguishers (dry powder type and/or carbon dioxide type), fire blankets, sand extinguishing, fire water supply systems, lightning protection devices, lightning protection belts, lightning protection nets, electrostatic dischargers, fire emergency lights, explosion-proof flashlights, electrostatic grounding alarms, One or more of combustible gas detection alarms, smoke alarms, liquid level alarms, pressure alarms, etc.

The energy controller 2411 can be configured to connect to one or more of a fuel dispenser, a gas dispenser, an AC charging pile, a DC charging pile, an AC/DC integrated charging pile, a switch station, a fire fighting device, and a terminal device, and receive data from it , Interact with, and/or control it. The energy controller 2411 may be configured to receive commands sent by the site control module 252 in the hub computing system 250, and control one or more entities in the energy service station 241 to perform actions according to the received commands. For example, the energy controller 2411 may control the fuel dispenser to fill an appropriate amount of fuel into the autonomous vehicle according to the command sent by the site control module 252, and control the dispenser to fill an appropriate amount of gas into the autonomous vehicle. The energy controller 2411 can be configured to obtain data from one or more of a fuel dispenser, a gas dispenser, an AC charging pile, a DC charging pile, an AC/DC integrated charging pile, a power exchange station, a fire fighting device, and a terminal device. Send to the site 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 configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions 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 special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the energy controller 2411.

The energy service station 241 may additionally or alternatively include other entities in addition to the aforementioned entities.

The repair service station 242 can be configured to provide related vehicle service items such as fault inspection, vehicle repair, vehicle maintenance, etc., including but not limited to sensor calibration, vehicle fault diagnosis, maintenance and cleaning, sheet metal baking, mechanical fault repair, and car replacement. Vehicle service items such as spare parts, tire repair, electronic component testing and repair.

The repair service station 242 may include any entity used to provide vehicle service items such as inspection, repair, and maintenance for vehicles (including the area occupied by the service station and one or more of the ground facilities, machinery and equipment and operators in the area. Species). In one embodiment, the repair service station 242 may include sensor calibration equipment, automobile diagnostic equipment, detection and analysis equipment, maintenance and cleaning equipment, sheet metal paint equipment, maintenance supplies, manual repair tools, tire repair equipment, vehicle lifting equipment, and maintenance. Controller 2421, one or more of entities such as tools for inspection and maintenance of electronic components, auto parts, electronic components, operators, terminal equipment, identity verification equipment, and monitoring equipment.

The sensor calibration equipment may include planar targets (such as checkerboards, ArUco codes), three-dimensional targets, and corner reflectors used to calibrate the position sensor 1211, inertial sensor 1212, object sensor 1213, and image sensor 1214 of the autonomous vehicle. One or more.

The car diagnostic equipment may include one or more of car decoders, car fault code reading cards and their dedicated computers.

Detection and analysis equipment can include automobile speed table, wheel weight inspection table, automobile brake inspection table, light detector, automobile side slip detection table, sound level meter, exhaust gas detection instrument, fuel consumption meter, angle meter, chassis dynamometer, engine One or more of analyzer, squarer, road tester, environmental dynamometer, discarded analyzer, etc.

Maintenance cleaning equipment can include automatic gearbox cleaning oil changer, power steering oil changer, butter filling machine, refrigerant recovery filling machine, fuel injection nozzle cleaning and testing equipment, polishing machine, waxing machine, vacuum cleaner, water suction machine One or more of etc.

The sheet metal baking paint equipment may include one or more of a paint baking room, a paint baking lamp, a paint mixing room, a beam corrector, a ground gossip, a spray gun, and the like.

Maintenance supplies can include refinish paint, refrigerant, brake fluid, antifreeze, lubricating oil, repair agent, glass water, sealant, putty, rust inhibitor, water tank treasure, car wax, car glaze, refrigerant, automobile and motorcycle use One or more of cleaning agents, tire polishes, and automotive adhesives.

The manual maintenance tool may include one or more of a wrench, a screwdriver, a set, a tool cart, a tool box, a workbench, and the like.

The tire repairing equipment may include one or more of a balancing machine, a tire changer, a nitrogen filling machine, a tire repairing machine, and the like.

The vehicle lifting equipment may include one or more of a two-post lift, a four-post lift, a scissor lift, a mobile lift, a jack, a crane, a crane, and the like.

Auto parts can include engine parts, power train parts, brake parts, steering parts, walking parts, etc. Engine accessories include but are not limited to throttle body, engine, engine assembly, fuel pump, fuel nozzle, tensioner, cylinder block, bearing bush, water pump, fuel injection, gasket, camshaft, valve, crankshaft, connecting rod assembly, piston , Belt, muffler, carburetor, fuel tank, water tank, fan, oil seal, radiator, filter, etc. Powertrain accessories include but are not limited to transmission, gear shift lever assembly, reducer, clutch, pneumatic, electric tools, magnetic materials, electronic components, clutch disc, clutch cover, universal joint, universal ball, universal Ball, ball cage, clutch plate, transfer case, power take-off, synchronizer, synchronizer ring, timing belt, differential, differential case, differential disc angle gear, planetary gear, wheel carrier, flange , Gearboxes, intermediate shafts, gears, gear lever forks, drive shaft assemblies, drive shaft flanges, belts, etc. Brake system accessories include but are not limited to brake shoes, brake pads, brake discs, brake drums, compressors, brake assemblies, brake pedal assemblies, brake master cylinders, brake cylinders, and automotive anti-lock brake system controllers ABS-ECU, electric hydraulic pump, brake camshaft, brake roller, brake tellurium pin, brake adjustment arm, brake chamber, vacuum booster, hand brake assembly, parking brake assembly, parking Brake lever assembly, etc. Steering system accessories include, but are not limited to, steering gear, steering knuckle ball head, steering knuckle steering wheel, steering gear, assembly booster, steering tie rod, power steering pump, etc. Walking accessories include but are not limited to rear axle, air suspension system, balance weight, steel plate, tire, leaf spring, half axle, shock absorber, steel ring assembly, half axle bolt, axle housing, frame, assembly, Wheel platform, front axle, etc.

Electronic component inspection and maintenance tools can include memory particle tester, oscilloscope, programmer, test card, data acquisition card, chip mounter, ultraviolet eraser, tin furnace, motherboard slot, diagnostic card, digital multimeter, memory Tester, ultrasonic cleaning machine, etc.

Electronic components may include LCD screens, touch screens, motherboard IO interfaces, power supply chips, field effect tubes, capacitors, etc.

The maintenance controller 2421 can be configured to connect to one or more of automobile diagnostic equipment, inspection and analysis equipment, maintenance and cleaning equipment, sheet metal paint equipment, tire repair equipment, vehicle lifting equipment, and terminal equipment, and receive data from it, and Interact, and/or control it. The maintenance controller 2421 may be configured to receive commands sent by the site control module 252 in the hub computing system 250, and control one or more entities in the maintenance service station 242 to perform actions according to the received commands. For example, the maintenance controller 2421 may control the automobile diagnostic equipment to diagnose the fault of the autonomous vehicle according to the command sent by the site control module 252. The maintenance controller 2421 may be configured to send data obtained from one or more of the automobile diagnostic equipment, inspection and analysis equipment, maintenance and cleaning equipment, sheet metal paint equipment, tire repair equipment, vehicle lifting equipment, and terminal equipment to The site control module 252 in the hub computing system 250. The maintenance controller 2421 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the maintenance controller 2421. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the maintenance controller 2421.

The repair service station 242 may additionally or alternatively include other entities in addition to the aforementioned entities.

The storage service station 243 may be configured to provide vehicle service items related to loading and unloading goods for vehicles. The storage service station 243 may include any entity (including one or more of the area occupied by the service station and the ground facilities, machinery and equipment and operators in the area) for providing loading and unloading services for vehicles. The storage service station 243 may include one or more entities such as a warehouse, a platform, a forklift, a crane, a handling robot, a loading and unloading platform, a storage controller 2431, an operator, a terminal device, an identity verification device, and a monitoring device.

The warehouse is configured to store goods. The warehouse can be divided into different spaces according to the type of goods (such as food, medicine, refrigerated, flammable, etc.). Cameras, infrared cameras, radars, temperature sensors, humidity sensors and other sensors can be installed in the warehouse.

The platform is configured as a road connected to the warehouse for parking vehicles waiting for loading and unloading. The number and size of platforms can be determined according to one or more factors such as the size of the warehouse, the number of spaces that the warehouse is divided into, the number of vehicles, the size of the vehicles, and the time required for loading and unloading each vehicle. The platform can be configured to provide a weighing scale sensor for weighing the vehicle.

The crane is configured for loading or unloading containers for vehicle transportation.

Forklifts and handling robots are configured to transport the goods stored in the warehouse to the vehicle, or to transport the goods transported by the vehicle to the warehouse.

The loading and unloading platform is configured to overlap between the vehicle and the platform, as a platform for forklifts and handling robots to travel between the platform and the vehicle. The loading and unloading platform can be a fixed loading and unloading platform with a hydraulic system, one end of which is in contact with the platform, and the other end can be adjusted in height to overlap the vehicle.

The storage service station 243 may be configured to call the standby vehicle in the standby vehicle service station 247 to load the cargo to be transported at the platform.

The warehouse controller 2431 can be configured to connect to one or more of sensors installed in the warehouse, sensors installed in the platform, forklifts, cranes, handling robots, loading and unloading platforms, and terminal devices, receive data from them, interact with them, and/ Or control it. The warehouse controller 2431 may be configured to receive commands sent by the site control module 252 in the hub computing system 250, and control one or more entities in the warehouse service station 243 to perform actions according to the received commands. For example, the warehouse controller 2431 may control the loading and unloading platform to be adjusted to an appropriate height according to the command sent by the site control module 252. The warehouse controller 2431 may be configured to send data obtained from one or more of sensors installed in the warehouse, sensors installed in the platform, forklifts, cranes, handling robots, loading and unloading platforms, and terminal devices to the hub computing system 250 The site control module 252 in. The warehouse controller 2431 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the warehouse controller 2431. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the warehouse controller 2431.

The storage service station 243 may additionally or alternatively include other entities in addition to the aforementioned entities.

The parking service station 244 may be configured to provide parking-related vehicle service items for vehicles. The parking service station 244 may include any entity (including the area occupied by the service station and one or more of ground facilities, machinery and equipment and operators in the area) for providing parking service items for vehicles. The parking service station 244 may include one of a parking lot, vehicle identification equipment, electric barriers, toll collection equipment, remaining space display equipment, parking lot controller 2441, operators, terminal equipment, identity verification equipment, monitoring equipment and other entities, or Many kinds.

The parking lot is configured for parking vehicles. The parking lot may include an exit 230, an entrance 220, and multiple parking spaces. The parking space may be one or more of a plane parking space and a mechanical parking space. The parking space may be configured to include one or more of a wheel positioner, a camera, and an ultrasonic parking space detector.

The vehicle identification device may include any device for detecting vehicles close to the entrance and exit 220 of the parking lot and identifying the identity of the vehicle, for example, may include one or more of a vehicle detector, a camera, and a card reader. The vehicle detector may be a ground-sensing vehicle detector.

The electric barrier is configured to allow or deny vehicles to enter and exit the parking lot. The electric barrier may include one or more of a brake lever, a brake lever bracket, a transmission mechanism, a balancing device, a motor, a reduction gear box, and the like.

The toll collection device can be configured to perform tasks such as identifying, recording, accounting, and charging for vehicles entering and leaving the parking lot. The charging device may be configured to include one or more of a card reader, a computing device, and a memory. The card reader can be a contact reader, a medium-distance card reader, or a long-distance card reader. The toll collection device can also be configured to connect to the electronic bank via the network to receive fees paid by the vehicle through network transfer.

The remaining space display device is configured to display free parking spaces in the parking lot. The remaining space display device may be configured to determine whether the parking space is free according to the detection result of the ultrasonic parking space detector in the parking space or the image taken by the camera.

The parking lot controller 2441 can be configured to connect to one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device, receive data from it, interact with it, and/or control it . The parking lot controller 2441 may be configured to receive commands sent by 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 actions according to the received commands. For example, the parking lot controller 2441 may control the opening or closing of the electric barrier according to the command sent by the station control module 252, or may be configured to control the charging device to update the charging standard. The parking lot controller 2441 may be configured to send data obtained from one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device to the station control module in the hub computing system 250 252. The parking lot controller 2441 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2441. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2441.

The parking service station 244 may additionally or alternatively include other entities in addition to the aforementioned entities.

The network service station 245 may be configured to provide services related to updating electronic files for the vehicle. Among them, electronic files may include software programs, map files, and so on. The network service station 245 may include any entity (including the area occupied by the service station and one or more of ground facilities, machinery and equipment and operators in the area) for providing services such as updating electronic files for vehicles. The network service station 245 may include one or more of entities such as a program update device 2451, a network connection device, an operator, a terminal device, an identity verification device, and a monitoring device.

The program update device 2451 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the functions corresponding to the check module, search module, comparison module, and update module as described below. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to functions corresponding to the check module, search module, comparison module, and update module as described below. The checking module can be configured to check and determine the versions of various electronic files in the vehicle; the search module can be configured to search for the latest versions of various electronic files in the network; the comparison module can be configured to compare the versions of various electronic files in the vehicle And the corresponding latest version to determine which electronic files in the vehicle need to be updated; the update module can be configured to download the latest version of the electronic file from the network to update the electronic file that needs to be updated. The program update device 2451 may include some interfaces, such as I2C interface, I2S interface, PCM interface, UART interface, MIPI interface, GPIO interface, SIM interface and/or USB interface. One or more of the aforementioned interfaces can be used to communicate and connect the autonomous driving vehicle with the program update device.

The network connection device may include a network interface and a network interface controller. The network interface may include, but is not limited to, one or more of RJ-45 interface, RJ-11 interface, SC optical fiber interface, FDDI interface, AUI interface, BNC interface, Console interface, USB interface, RS-232 interface, etc. The network interface controller can connect devices (such as autonomous vehicles) connected to the network interface with the network.

The network service station 245 may additionally or alternatively include other entities in addition to the aforementioned entities.

The road rescue service station 246 can be configured to provide related vehicle service items for rescue vehicles on the failed road site (the road outside the hub service area) for the failed vehicle. For example, it can include on-site refueling, on-site gas refueling, on-site charging, On-site replacement of power battery packs, trailers, on-site mechanical failure maintenance, on-site replacement of auto parts, on-site replacement of tractors, on-site replacement of trailers, transfer of goods, transfer of personnel, road guidance, wounded treatment and other one or more vehicle service items. The road rescue service station 246 may include any entity used to provide on-site rescue services for vehicles that have broken down on the road outside the hub service area (including the area occupied by the service station and the ground facilities, machinery and equipment and operators in the area. One or more of). The road rescue service station 246 may include entities such as mobile maintenance vehicles, mobile energy vehicles, trailers, spare auto parts, road guidance equipment, ambulances, road rescue controllers 2461, operators, terminal equipment, identity verification equipment, and monitoring equipment. One or more of.

The mobile maintenance vehicle may be configured as a vehicle with vehicle maintenance tools and/or equipment for providing mechanical failure maintenance services for vehicles that have mechanical failures on the road.

The mobile energy vehicle can be configured as a vehicle that can provide liquid fuel for automobiles, gas fuel for automobiles, charging power, replaceable power battery packs, etc., to provide supplementary liquid fuel, gas fuel, and charging for vehicles that fail on the road Services such as power supply and replacement of power battery packs.

Tow trucks are used to tow vehicles that have broken down on the road to a suitable area (such as a hub service area).

Spare auto parts may include, but are not limited to, engine parts, drive train parts, brake parts, steering parts, walking parts, sensor parts, etc. Engine accessories include but are not limited to throttle body, engine, engine assembly, fuel pump, fuel nozzle, tensioner, cylinder block, bearing bush, water pump, fuel injection, gasket, camshaft, valve, crankshaft, connecting rod assembly, piston , Belt, muffler, carburetor, fuel tank, water tank, fan, oil seal, radiator, filter, etc. Powertrain accessories include but are not limited to transmission, gear shift lever assembly, reducer, clutch, pneumatic, electric tools, magnetic materials, electronic components, clutch disc, clutch cover, universal joint, universal ball, universal Ball, ball cage, clutch plate, transfer case, power take-off, synchronizer, synchronizer ring, timing belt, differential, differential case, differential disc angle gear, planetary gear, wheel carrier, flange , Gear box, intermediate shaft, gear, gear lever fork, drive shaft assembly, drive shaft flange, belt, etc. Brake system accessories include but are not limited to brake shoes, brake pads, brake discs, brake drums, compressors, brake assemblies, brake pedal assemblies, brake master cylinders, brake cylinders, ABS-ECU controllers, electric Hydraulic pump, brake camshaft, brake roller, brake tellurium pin, brake adjustment arm, brake chamber, vacuum booster, hand brake assembly, parking brake assembly, parking brake operating lever assembly Wait. Steering system accessories include, but are not limited to, steering gear, steering knuckle ball head, steering knuckle steering wheel, steering gear, assembly booster, steering tie rod, power steering pump, etc. Walking accessories include but are not limited to rear axle, air suspension system, balance weight, steel plate, tire, leaf spring, half axle, shock absorber, steel ring assembly, half axle bolt, axle housing, frame, assembly, Wheel platform, front axle, etc. Sensor accessories include but are not limited to cameras, lidars, ultrasonic radars, laser rangefinders, brackets, pan-tilts, etc.

The equipment for road clearing may include, but is not limited to, road cones, roadblocks and other equipment.

Ambulances can include vehicles, stretchers, wheelchairs, breathing aids, oxygen cylinders, sphygmomanometers, medications or drip packs, warning lights, buzzers, radio walkie-talkies, satellite locators and other equipment, used to pick up injured people from the scene Sent to the hospital.

The road rescue service station 246 may be configured to call the standby vehicle in the standby vehicle service station 247 to arrive at the rescue site to perform tasks such as transferring personnel and transferring goods.

The road rescue controller 2461 may be configured to connect to one or more of a mobile maintenance vehicle, a mobile energy vehicle, a trailer, an ambulance, and a terminal device, receive data therefrom, interact with it, and/or control it. The road rescue controller 2461 may be configured to receive commands sent by the station control module 252 in the hub computing system 250, and control one or more entities in the road rescue service station 246 to perform actions according to the received commands. For example, the road rescue controller 2461 may dispatch a suitable entity to the rescue site according to the command sent by the site control module 252 to provide vehicle service items for the autonomous vehicle. The road rescue controller 2461 may be configured to send data obtained from one or more of a mobile maintenance vehicle, a mobile energy vehicle, a trailer, an ambulance, and a terminal device to the site control module 252 in the hub computing system 250. The roadside assistance controller 2461 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the road rescue controller 2461. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the road rescue controller 2461.

The road rescue service station 246 may additionally or alternatively include other entities in addition to the aforementioned entities.

The backup vehicle service station 247 may be configured to provide backup vehicles, for example, it may provide backup vehicles such as passenger cars, commercial vehicles, tractors, and trailers. The backup car service station 247 may include one of a parking lot, vehicle identification equipment, electric barriers, remaining position display equipment, parking lot controller 2471, backup vehicles, operators, terminal equipment, identity verification equipment, monitoring equipment and other entities. Or multiple.

The parking lot is configured for parking backup vehicles. The parking lot can include exits, entrances, and multiple parking spaces. The parking space may be one or more of a plane parking space and a mechanical parking space. The parking space may be configured to include one or more of a wheel positioner, a camera, and an ultrasonic parking space detector. The parking lot in the backup car service station 247 and the parking lot in the parking service station 244 may be configured as the same parking lot.

The vehicle identification device may include any device for detecting vehicles approaching the entrance of the parking lot and identifying the identity of the vehicle. The vehicle identification device may include one or more of a vehicle detector, a camera, and a card reader. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the vehicle identification device in the backup car service station 247 and the vehicle identification device in the parking service station 244 are configured For the same equipment.

Electric barriers are arranged at the entrance and exit of the parking lot to allow or deny vehicles to enter and exit the parking lot. The electric barrier may include one or more of a brake lever, a brake lever bracket, a transmission mechanism, a balancing device, a motor, a reduction gear box, and the like. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the electric barriers in the backup car service station 247 and the electric barriers in the parking service station 244 are configured For the same equipment.

The remaining space display device is configured to display free parking spaces in the parking lot. The remaining space display device may be configured to determine whether the parking space is free according to the detection result of the ultrasonic parking space detector in the parking space or the image taken by the camera. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the remaining space display device in the backup car service station 247 and the remaining space display device in the parking service station 244 Are configured as the same device.

The parking lot controller 2471 can be configured to connect to one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device, receive data from it, interact with it, and/or control it . The parking lot controller 2471 may be configured to receive commands sent by 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 actions according to the received commands. For example, the parking lot controller 2471 may control the opening or closing of the electric barrier according to the command sent by the station control module 252, or it may be configured to control the charging device to update the charging standard. The parking lot controller 2471 may be configured to send data obtained from one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device to the station control module in the hub computing system 250 252. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the parking lot controller 2441 in the backup car service station 247 and the parking lot control in the parking service station 244 The device 2471 is configured as the same device. The parking lot controller 2471 may include a processor and a data storage device. The processor may be configured to run instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions 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 special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually 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 Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2471.

The backup vehicle may include one or more of passenger cars, complete commercial vehicles, tractors, and trailers.

Among them, passenger vehicles can include but are not limited to basic passenger vehicles (such as cars), multi-purpose vehicles (MPV), sport utility vehicles (SUV), special passenger vehicles and Cross-type passenger vehicles, etc., can be used to be dispatched to the road rescue site to transfer personnel, and can also be used to perform other tasks.

Commercial vehicles can include but are not limited to pickup trucks, micro trucks, light trucks, dump trucks, trucks, semi-trailer trucks, full-trailer trucks, vans, etc., and can be used to be dispatched to the road rescue site to transfer goods. It can also be used to perform the task of transporting goods in the warehouse.

Tractors can include, but are not limited to, full-trailer tractors and semi-trailer tractors, which can be used to be dispatched to the road rescue site to replace the malfunctioning tractor, and can also be used to be dispatched to the platform to tow the trailer.

Trailers can include, but are not limited to, full trailers and semi-trailers. They can be used to replace faulty trailers at the road rescue site, and can also be used to load cargo to be transported to the platform.

The backup car service station 247 may additionally or alternatively include other entities in addition to the aforementioned entities.

Each of the above service sites in the service area can be equipped with operators, terminal equipment, identity verification equipment and monitoring equipment.

Operators can be professionals who operate various equipment in the corresponding service station, assist in completing or independently complete related vehicle service items.

The terminal device may be configured as a device for interacting with vehicles entering the corresponding service site (including but not limited to data transmission with the vehicle, receiving control of the vehicle, or applying control to the vehicle). The terminal device may be configured to perform an interaction with the vehicle according to a command input by an operator. Terminal devices can be configured as mobile phones, handheld computers, tablet computers, desktop computers, portable notebook computers, industrial PDAs, barcode scanners, RFID readers and other forms of equipment. The terminal equipment and the vehicle can be connected through a wireless local area network (Wireless Local Area Networks, WLAN) (such as wireless fidelity (Wireless Fidelity, Wi-Fi) network), BT, GNSS, FM, NFC, IR and other wireless communication technologies, or Many kinds of communication.

The identity verification device may be configured as a device for verifying the identity of foreign entities (such as vehicles, equipment maintenance personnel, etc.) entering the corresponding service site. The identity verification device can use one or more of the following verification methods: identity verification methods based on shared keys (such as password verification), identity verification methods based on biological characteristics (such as fingerprint verification, iris verification, and avatar verification), based on Public key encryption algorithm authentication methods (such as Secure Socket Layer (SSL) certificate, digital signature), HTTP basic authentication HTTP Basic Authentication, server-side session-browser-side web tracker authentication Session- Cookie, token Token verification, open authorization OAuth verification, etc.

The monitoring device can be configured as a device that monitors any entity in the corresponding service site and the operations performed by it. The monitoring equipment may include one or more of cameras, infrared cameras, pan-tilts, displays, consoles, and so on.

Other types of service sites other than the aforementioned service sites can be additionally or alternatively set up in the service area. In an embodiment, a rest service station may also be set in the service area. The rest service station can be configured to include vending machines, supermarkets, accommodation rooms, entertainment venues, etc., to provide passengers with services such as catering, rest, entertainment, and consumption.

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

The processor 251 may be configured to execute instructions stored in the data storage device 252 to perform various functions, including but not limited to functions corresponding to the road card control module 253 and the station control module 254 as described below. The processor 251 may include a general-purpose processor (e.g., CPU, GPU), a dedicated processor (e.g., ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), an integrated circuit, a microcontroller, etc. Multiple combinations. In the case where the processor 251 includes a plurality of processors, these processors can work individually or in combination.

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 read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card ( eMMC), hard drive, or any combination of one or more of volatile or non-volatile media. The data storage device 252 may be integrated with the processor 251 in whole or in part. The data storage device 252 may be configured to store instructions that can be executed by the processor 251 to perform various functions, including but not limited to functions corresponding to the road card control module 253 and the station control module 254 as described below.

The road card control module 253 may be configured to receive the recognition results of the vehicle identification devices in the entrance road card 221 and the exit road card 231, and control the road card devices in the entrance road card 221 and the exit road card 231 to turn on or off.

The station control module 254 can be configured to generate a series of commands according to the vehicle service plan, and send these commands to the corresponding controllers, terminal devices, authentication devices or other entities configured in each service station, so that the corresponding controllers and / Or the terminal device controls the entity in the corresponding service site to interact with the vehicle according to the command. In an example, the site control module 254 may generate a refueling command according to the vehicle service plan, and the refueling command includes fuel quantity information. The site control module 254 may send the refueling command to the energy controller 2411 in the energy service station 241, and the energy The controller 2411 can directly control the refueling machine to fill the autopilot with a corresponding amount of fuel after receiving the refueling command. The energy controller 2411 can also forward the refueling command to the terminal in the energy service station 241 after receiving the refueling command. Equipment, terminal equipment through various display methods such as sound and light to prompt the operator to operate the fuel dispenser to fill the autonomous vehicle with a corresponding amount of fuel. The station control module 254 may also directly send the fueling command to the terminal device in the energy service station 241, so that the terminal device prompts the operator to operate the fuel dispenser to fill the autonomous vehicle with a corresponding amount of fuel. In an example, the site control module 254 can generate a program update command according to the vehicle service plan, the program update command includes the legal identity of the autonomous vehicle that needs to be upgraded with the program service, and the site control module 254 can send the program update command to the network The identity verification device in the service station 245. After receiving the program update command, the identity verification device authenticates the self-driving car entering the network service station 245 according to the legal identity contained therein. When the authentication is successful, the identity verification device sends The program update device 2451 sends a notification message. After receiving the notification message, the program update device 2451 connects to the corresponding autonomous vehicle and updates the program. In one example, the site control module 254 may generate a sensor calibration command according to the vehicle service plan. The sensor calibration command includes the type of sensor that needs to be calibrated, and the site control module 254 sends the sensor calibration command to the terminal device in the repair service station 242 , The terminal equipment prompts the operator to build or place the sensor calibration equipment corresponding to the corresponding type of sensor through various display methods such as sound and light. In an example, the site control module 254 may generate a fee payment order according to the vehicle service plan. The fee payment command includes information about the vehicle service fee to be paid by the autonomous vehicle, and the site control module 254 sends the fee payment command to the exit road card. The payment device of 231, after receiving the fee payment order, the payment device judges whether the fee paid by the self-driving car is appropriate according to the vehicle service fee information therein. The site control module 254 may be configured to receive data returned by the corresponding controller, terminal device, identity verification device or other entity in each service site, and learn and grasp the working status of each service site based on these data. In an example, the energy controller 2411 in the energy service station 241 returns a notification message to the station control module 254 after the gas dispenser fills the autonomous vehicle with gas. The notification message contains the total amount of gas to be filled and Corresponding expenses. In an example, the warehouse controller 2431 in the warehouse service station 243 can perceive the load situation of the warehouse space in the warehouse according to sensors provided in the warehouse.

The data storage device 252 may also be configured to store other instructions.

In addition to storing instructions, the data storage device 252 can also be configured to store a variety of information, such as the type and number of service stations included in the service area, the high-precision map of the road area, the total number of vehicles entering the hub service area, and each vehicle. Corresponding vehicle service list, etc. During the operation of the hub service area, this information may be used by one or more of the hub computing system 250, various service stations, and vehicles.

The hub computing system 250 may also be multiple computing devices, and these computing devices control one or more of the entrance road card 221, the exit road card 231, and each service site in a distributed manner.

The communication system 260 may be configured to include one or more antennas, base stations, satellite signal receivers, filters, power amplifiers, low noise amplifiers (LNA), switches, modem processors, baseband processors, etc. equipment. The communication system 260 may communicate based on wireless communication technology, where the wireless communication technology may include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, FM, NFC, IR and other technologies. The communication system 260 is communicatively connected to one or more of the entrance road card 221, the exit road card 231, and each service station through a wireless communication network, a wired communication network, and/or other connection mechanisms.

The hub computing system 250 can communicate with the autonomous vehicle and the hub service area through the communication system 260.

The hub computing system 250 may include a hub coordination device HUB-ECU, and the hub coordination device HUB-ECU may include one or more second processors, one or more second memories, and stored on the second memory and may be stored in the first Computer instructions running on the second processor. When the second processor is running the computer instructions in the second memory, it executes the functions corresponding to the hub coordination module 255 as described below. The hub coordination module 255 may be configured to control entities in the hub service area to interact with the autonomous vehicle according to the demand solution determined and sent by the central control coordination module 349 of the central control system. Wherein, the second processor may be configured as one or more general-purpose processors (for example, CPU, GPU), one or more special-purpose processors (for example, ASIC), and one or more field programmable gate arrays in the processor 251. (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and/or, one or more microcontrollers, etc. The second memory may be configured as one or more read-only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electronic devices in the data storage device 252 Programmable memory (EPROM), one or more electrically programmable and erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and/or, one or more hard drives, etc. The hub coordination module 255 can be implemented as a computer program product. When the computer program product runs on a computer, it realizes the control of entities and entities in the hub service area according to the demand solution determined and sent by the central control coordination module 349 of the central control system. A solution to the needs of the hub service area for autonomous vehicle interaction.

Figure 8 shows a hub service area according to an embodiment of the present application. The hub service area is equipped with a hub coordination device HUB-ECU. The hub coordination device HUB-ECU includes a second processor, a second memory, and storage. Computer instructions on the second memory and executable on the second processor. When the second processor is running the computer instructions in the second memory, the method corresponding to the following steps is executed: S81, the hub coordination device HUB-ECU receives the demand solution sent by the central control coordination device CCS-ECU of the central control system; S82 , The hub coordination device HUB-ECU controls the interaction between entities in the hub service area and autonomous vehicles according to the demand solution.

3. Central Control System CCS

The central control system can be configured to centrally monitor, dispatch and control the autonomous vehicles connected to the network.

Fig. 4 is a schematic structural diagram of the central control system. The central control system may include a communication subsystem 310, an interactive subsystem 320, and a central control computing system 340.

The communication subsystem 310 may be configured to communicate with the autonomous vehicle through network resources. The communication subsystem 310 may include one or more of antennas, base stations, satellite signal receivers, filters, power amplifiers, low noise amplifiers, switches, modem processors, baseband processors, and other devices. The communication subsystem 310 can communicate with the autonomous vehicle (wireless communication device 141) based on wireless communication technology. The wireless communication technology can include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, WLAN, NFC, FM and/or IR technology, etc. Among them, GNSS may include GPS, GLONASS, BDS, QZSS and/or SBAS.

The interaction subsystem 320 may be configured to display information and receive data and/or instructions input by the operator. The interaction subsystem 320 may include one or more of a display, a keyboard, a touch screen display, a speaker, a receiver, a microphone, a pointer, a camera, a mouse, a USB interface, a touch sensor, and the like.

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

The processor 341 may be configured to execute instructions stored in the data storage device 342 to perform various functions, including but not limited to the monitoring module 344, the scheduling module 345, the control module 346, and the interaction module 347 as described below. Corresponding function. The processor 341 may include a general-purpose processor (e.g., CPU, GPU), a dedicated processor (e.g., ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), an integrated circuit, a microcontroller, etc. Multiple combinations. In the case where the processor includes a plurality of processors, these processors can work individually or in combination.

The processor 341 may be configured to include one or more interfaces. The interface may include an integrated circuit I2C interface, I2S interface, PCM interface, UART interface, MIPI interface, GPIO interface, SIM interface, and/or USB interface. One or more of the above-mentioned interfaces may be used to communicatively connect the processor with the communication subsystem 310 and/or the interaction subsystem 320. The I2C interface can be used to connect the processor to the touch sensor in the interaction subsystem 320. The MIPI interface can be used to connect the processor to the display and camera in the interactive subsystem 320.

The data storage device 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 device 342 may include read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card ( eMMC), hard drive, or any combination of one or more of volatile or non-volatile media. The data storage device 342 may be integrated with the processor in whole or in part. The data storage device 342 may be configured to store instructions that can be executed by the processor to perform various functions. These functions include but are not limited to the monitoring module 344, the scheduling module 345, the control module 346, and the interaction module 347 as described below. Features.

The monitoring module 344 may be configured to obtain vehicle-related parameters through 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 data, and control data. Sensor data includes, but is not limited to, geographic location, driving speed, driving acceleration, engine speed, steering wheel rudder angle, yaw rate, accelerator pedal depression, brake pedal depression, fuel storage, etc. The status information includes, but is not limited to, working status (for example, starting, driving, stopping during the journey, stopping the vehicle, malfunctioning, being repaired, waiting for loading and unloading, etc.), driving mode (for example, automatic driving, semi-automatic driving, or manual driving). Navigation data includes but is not limited to departure address, destination address, driving route, etc. Decision data includes but is not limited to acceleration, deceleration, braking, steering, lane change, obstacle avoidance, etc. The control data includes, but is not limited to, the amount of change in steering torque, the amount of change in throttle opening, and the amount of change in engine speed.

The scheduling module 345 may be configured to dispatch the autonomous driving vehicle to perform tasks. The scheduling module 345 may be connected to or include a business order processing system. The business order processing system can be used to process passenger transportation order processing operations, and/or cargo transportation order processing operations. The dispatch module 345 can dispatch the autonomous driving vehicle to perform the passenger pick-up and drop-off task according to the boarding address and the destination address in the business order processing system. The scheduling module 345 can schedule the autonomous vehicle to perform logistics transportation tasks according to the loading address and the unloading address in the business order processing system.

The interaction module 347 may be configured to display vehicle-related parameters through the interaction subsystem 320, and receive data and/or instructions input by the operator from the interaction subsystem 320.

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

The data storage device 342 may also be configured to store other instructions, including sending data to one or more of the communication subsystem 310 and the interaction subsystem 320, receiving data therefrom, interacting with it, and/or controlling it. Instructions. The central control computing system 340 may be communicatively connected to the communication subsystem 310 and the interaction subsystem 320 through a system bus, a network, and/or other connection mechanisms.

In addition to storing instructions, the data storage device 342 may also be configured to store a variety of information, such as the identification of the autonomous vehicle connected to the network, vehicle-related parameters, map data, and so on. During the operation of the central control computing system 340, the information can be used by the communication subsystem 310 and/or the interaction subsystem 320.

The system bus 343 may include an industrial standard architecture (ISA) bus, an extended industry standard architecture (EISA) bus, a Video Electronics Standard Association (VESA) bus, and peripheral component interconnection ( One or more of Peripheral Component Interconnect (PCI) bus and Compact PCI (Compact PCI) bus.

The central control computing system 340 may be a server cluster, and each server in the cluster may monitor, dispatch, and control the autonomous vehicles connected to the network in a distributed manner.

The central control system can also be configured to centrally monitor and control the hub service area. The communication subsystem 310 may also be configured to communicate with the hub service area through network resources. The monitoring module 344 can also be configured to obtain service area related parameters through the communication subsystem 310. These service area related parameters include but are not limited to the working status of the entrance road card, the working status of the exit road card, the working status of each service station, One or more of the information of the vehicles being served by each service site. The working status of the entrance road card includes, but is not limited to, whether the vehicle identification equipment and road card equipment at the entrance are working normally, what operation is being performed, and so on. The working status of the exit road card includes, but is not limited to, whether the vehicle identification equipment and road card equipment at the exit are working normally, what kind of operation is being performed, and so on. The working status of each service site includes whether each entity in each service site is working properly and what operations are being performed. The information of the vehicle being served by each service site includes, but is not limited to, the identification and/or status of the vehicle. The interaction module 347 may also be configured to display related parameters of the service area through the interaction subsystem 320. The control module 346 can also be configured to generate control instructions based on one or more of service area related parameters, vehicle related parameters, data input by the operator, and/or instructions, and send the control instructions to the hub computing system to make it Control one or more of the entrance road card, the exit road card, and each entity in each service station to provide vehicle services for the autonomous vehicle.

The central control system can also be configured to centrally monitor transportation facilities. Transportation facilities may include, but are not limited to, one or more of public transportation roads, transportation equipment, pipelines, and the like. Among them, public transportation roads can include but are not limited to municipal roads, highways, railway tracks, etc.; transportation equipment can include, but are not limited to, traffic lights, barriers, road cones, spherical mirrors, warning tapes, traffic signs, etc.; pipeline routes can include But not limited to power transmission lines, network transmission lines, water supply pipelines, oil supply pipelines, natural gas pipelines, gas pipelines, etc. The central control system may include a monitoring subsystem 330. The monitoring subsystem 330 may be configured to monitor the location and/or status of one or more transportation facilities. The monitoring subsystem 330 may include one or more devices of a camera, a lens, a pan/tilt, a protective cover, a sensor, an alarm detector, a decoder, a display, a console, and the like. The console can be configured to perform various processing on the video signal collected by the camera (including but not limited to amplification, distribution, correction, compensation, switching, etc.), as well as the camera, lens, pan/tilt, protective cover, alarm detector, and decoding One or more of the devices such as monitors and displays are controlled. The monitoring subsystem 330 may be in communication connection with the interaction subsystem 320, and the interaction subsystem 320 may also be configured to display the location and/or status of one or more transportation facilities monitored by the monitoring subsystem 330. The monitoring subsystem 330 may be communicatively connected with the central control computing system 340, and the data storage device 342 in the central control computing system 340 is also configured to store instructions for making decisions for the autonomous vehicle based on the data monitored by the monitoring subsystem 330.

The central control system may include a central control coordination device CCS-ECU, and the central control coordination device CCS-ECU may include one or more third processors, one or more third memories, and the Computer instructions running on the third processor. When the third processor is running the computer instructions in the third memory, it executes the functions corresponding to the central control coordination module 349 as described below. The central control coordination module 349 may be configured to determine a vehicle service plan, and send the demand solution to the vehicle coordination module in the autonomous vehicle and the hub coordination module in the hub service area. Wherein, the third processor may be configured as one or more general-purpose processors (for example, CPU, GPU), one or more special-purpose processors (for example, ASIC), and one or more field programmable gate arrays in the processor 341 (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and/or, one or more microcontrollers, etc. The third memory may be configured as one or more read-only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electronic devices in the data storage device 342 Programmable memory (EPROM), one or more electrically programmable and erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and/or, one or more hard drives, etc. The central control coordination module 349 can be implemented as a computer program product. When the computer program product runs on the computer, it can determine the vehicle service plan and send the demand solution to the vehicle coordination module and the hub service area in the autonomous vehicle. The solution to the needs of the hub service area of the hub coordination module in China.

Figure 9 shows a central control system according to an embodiment of the present application. The central control system is equipped with a central control coordination device CCS-ECU. The central control coordination device CCS-ECU includes a third processor and a third memory, And computer instructions stored on the third memory and executable on the third processor. When the third processor is running the computer instructions in the third memory, it executes the method corresponding to the following steps: S91, the central control coordination device CCS-ECU determines whether there is a service area demand in the hub service area; S92, the central control coordination device CCS- The ECU determines the demand solution when judging that there is a demand for the service area in the hub service area; S93, the central control coordination device CCS-ECU sends the demand solution to the vehicle coordination device ADV-ECU configured in the autonomous vehicle and the hub service The hub coordination equipment HUB-ECU in the district.

4. Vehicle service system and self-driving car service system

As shown in FIG. 5, the vehicle service system may be configured to include a central control system CCS, at least one autonomous vehicle ADV, and at least one hub service area HUB. As shown in Figure 6, the autonomous vehicle service system can be configured to include the central control coordination device CCS-ECU in the central control system CCS, the vehicle coordination device ADV-ECU in the autonomous vehicle ADV, and the hub in the hub service area HUB Coordinating equipment HUB-ECU.

Referring to the scenarios shown in Figure 5 and Figure 6, the central control system CCS can be connected to the autonomous driving vehicle ADV and the hub service area HUB through network resources. The communication subsystem 310 of the central control system CCS can communicate with the wireless communication device 401 of the autonomous driving vehicle ADV and the communication system 260 of the hub service area HUB through network resources. Hereinafter, the autonomous driving vehicle ADV that is communicatively connected with the central control system CCS is referred to as the autonomous vehicle on the network, and the hub service area HUB that is communicatively connected with the central control system CCS is referred to as the hub service area on the network.

Referring to the scenarios shown in Figure 5 and Figure 6, the central control coordination device CCS-ECU determines the demand solution when judging that the hub service area HUB has a service area demand, and sends the determined demand solutions to the current autonomous vehicle ADV. The vehicle coordination equipment ADV-ECU and the hub coordination equipment HUB-ECU in the hub service area HUB, the vehicle coordination equipment ADV-ECU and the hub coordination equipment HUB-ECU respectively control the current autonomous vehicle ADV and the hub service area according to the demand solution The entities in the HUB complete the interaction.

5. Demand solution

The demand solution can include the identification of the current autonomous vehicle, the identification of the target hub service area, and the task list. The process of determining the demand solution by the central control coordination device may include the step of determining the target hub service area and the step of determining the task list.

Each hub service area has its own identification. Different identifications are used to identify different hub service areas. The identification can include, but is not limited to, the identity ID of the hub service area (such as the name of the hub service area\serial number, the number of the hub service area). Detailed address), network contact address (such as the MAC address and IP address of the communication system), etc. Hereinafter, the hub service area with service area demand is referred to as the current hub service area to distinguish it from other hub service areas. Each self-driving car has its own logo. Different logos are used to identify different self-driving cars. The logo can include, but is not limited to, the identity ID of the self-driving car (such as license plate number) and network contact address (such as wireless communication device). 401 MAC address, IP address) and so on. Hereinafter, the autonomous vehicle that needs to solve the existing service area demand for the current hub service area is called the target autonomous vehicle. The identification of the target autonomous vehicle can identify the automatic driving vehicle that solves its existing service area needs for the current hub service area. Driving a car.

The task list can include the tasks that need to be performed, that is, the tasks that the target autonomous vehicle needs to perform to meet the needs of the service area in the current hub service area. For example, it can include replenishing spare vehicles, loading and transporting goods, and unloading goods to idle. One or more tasks such as storage space, transportation of supplies (such as spare auto parts, etc.).

The task list may also include the location where the task is performed, that is, the location where the task is performed, for example, it may be a certain hub service area, a certain service station in the hub service area, or other more detailed or rough locations.

The task list may also include the time to perform the task, that is, the time to perform the task, which may be the start time and/or duration of the task. Among them, the start time and/or duration can be accurate to the year, month, day, hour, minute, and second information.

The task list may also include the remuneration for performing the task, that is, the remuneration that the current hub service area needs to pay for the automatic driving of the target for performing the task.

The task list may also include the authentication method used when performing the task, that is, the identity of both parties (the autonomous vehicle and the entity in the hub service area) needs to be authenticated before the task is performed, and the task can be executed after the authentication is successful. The authentication method may include the type of technology used for authentication, the legal identity information of both parties, and so on. Among them, the types of technologies used for authentication can include, but are not limited to, authentication methods based on public key encryption algorithms (such as SSL certificates, digital signatures), HTTP basic authentication, HTTP Basic Authentication, server-side sessions-browser-side web trackers Verify one or more of session-cookie, token verification, open authorization OAuth verification, etc. The type of technology used for authentication can be determined according to the verification technology used by the identity verification device in each service site.

The task list can also include other information.

6. Service area requirements and detailed service area requirements

The service area demand can be any demand that exists in the hub service area. For example, it can be a spare car that needs to be replenished, goods need to be transported, there is free storage space that needs to supplement the goods, and the lack of materials (such as lack of spare auto parts, etc.) Kind or more.

The detailed service area requirements can include tasks that need to be performed, that is, the tasks that the target autonomous vehicle needs to perform to solve the current service area requirements in the hub service area. For example, it can include replenishing spare vehicles, loading and transporting goods, and unloading goods to One or more tasks such as free storage space, transportation of supplies (such as spare auto parts, etc.).

The detailed requirements of the service area can also include the vehicle resources needed to perform the task. The vehicle resources required to perform the task may include the conditions that the target autonomous vehicle needs to meet. For example, when a spare vehicle is supplied for a task that needs to be performed, and the type of the spare vehicle is a semi-trailer tractor, the condition that the target autonomous driving vehicle needs to meet is that the model is a semi-trailer tractor. The vehicle resources required to perform the task can also include the number of autonomous vehicles required. For example, when 3 semi-trailer tractors need to be replenished in the standby car service station, the number of autonomous driving vehicles required is 3.

You can determine whether there is a service area demand in the hub service area based on one or more of the following parameters, and determine the detailed demand for the service area:

(1) The usage of the spare car; this parameter can be obtained through the parking controller connected to the spare car service station. This parameter can include the types of various spare cars included in the spare car service station, and the rated number of each type of spare car , The actual number of each type of spare car, the working status of each spare car and other information;

(2) The transportation plan of warehousing goods. This parameter can be obtained by connecting to the business order system. This parameter can include the quantity, type, and volume of the goods stored in the warehousing service station, the business order number corresponding to each type of goods, and the number of each type of goods. The source and destination of the information;

(3) The occupancy of the storage space. This parameter can be obtained through the storage controller connected to the storage service station. This parameter can include the maximum volume and remaining volume of each warehouse in the storage service station;

(4) The lack of materials at each service station in the hub service area. This parameter can be obtained by connecting to each service station in the hub service area. This parameter can include the name, type, quantity and other information of the missing materials in each service station .

The service area requirements can also be determined based on other parameters. Hereinafter, the parameters used to determine whether there is a service area demand in the hub service area and determine the detailed demand of the service area (not limited to the above parameters (1) to (4)) are collectively referred to as service area related parameters.

The hub coordination equipment can judge whether the actual number of various types of spare cars is less than the rated number of the corresponding type of spare cars according to the use of the spare cars, when there is a certain type of spare cars that is less than the rated number of this type of spare cars At the time, it can be determined that there is a demand for the service area, and the task that needs to be performed is determined as: replenishing a spare vehicle. The hub coordination device can further determine that the vehicle resources required to perform the task are: one or more autonomous vehicles that are consistent with the model of the type of standby vehicle and whose number is equal to the difference between the rated number of the type of standby vehicle and the actual number.

The hub coordination equipment can determine whether there are goods to be transported according to the transportation plan of the stored goods. When it is determined that there are goods to be transported, it is determined that there is a demand for the service area, and the task to be performed is determined as: loading and transporting the goods. The hub coordination equipment can further determine that the vehicle resources required to perform the task are: an autonomous vehicle with the ability to load and transport the goods corresponding to the task; where the ability to load and transport the goods corresponding to the task includes: loadable goods The type covers the type of cargo corresponding to the task, the volume of the loadable cargo is greater than or equal to the volume of the cargo corresponding to the task, and the drivable area includes the unloading location of the cargo corresponding to the task.

The hub coordination equipment can judge whether there is free storage space according to the occupancy of the storage space. When there is free storage space, it determines that there is a demand for service area, and the task to be performed is determined as: unloading goods to the free storage space . The hub coordination equipment can further determine that the vehicle resources required to perform the task are: an autonomous vehicle capable of unloading the goods being transported to the free storage space; among them, the vehicle resources that are capable of unloading the goods being transported to the free storage space Capabilities include: the unloading location of the goods being transported includes the address of the hub service area, the type of goods being transported is included in the types of goods that can be stored in the free storage space, and the volume of the goods being transported is less than or equal to the free storage space. The volume of storage space.

7. Attribute information of the self-driving car

The attribute information of the self-driving vehicle may include the model of the self-driving vehicle, for example, it may be a passenger car, a complete commercial vehicle, a tractor, a trailer, and the like. Among them, passenger vehicles may include, but are not limited to, basic passenger vehicles (such as sedan), multi-purpose vehicle MPV, sports multi-purpose vehicle SUV, special-purpose passenger vehicle, and cross-type passenger vehicle. Commercial vehicles can include pickup trucks, micro trucks, light trucks, micro buses, self-unloading vehicles, trucks, special vehicles, etc. The tractor can include a full-trailer tractor and a semi-trailer tractor. Trailers can include full trailers and semi-trailers.

The attribute information of the self-driving vehicle can include the body structure of the self-driving vehicle. For example, the body structure of some self-driving semi-trailers includes semi-trailer tractors and semi-trailers, and the body structure of some self-driving full trailers includes full-trailer tractors. , Full trailers, the body structure of some self-driving vans includes the front and the carriage.

The attribute information of the self-driving vehicle may also include the types of goods that the self-driving vehicle can load, for example, it may include food, medicine, daily necessities, dangerous goods, frozen products, and the like.

The attribute information of the self-driving vehicle may also include the volume of goods that can be loaded by the self-driving vehicle, for example, it may be the maximum loading volume when the vehicle is in an empty state or the remaining loading volume when the vehicle is loaded.

The attribute information of the self-driving vehicle may also include the type of goods being transported by the self-driving vehicle, that is, the type of goods being transported, such as daily necessities, dangerous goods, frozen products, etc.

The attribute information of the self-driving vehicle may also include the volume of goods being transported by the self-driving vehicle, that is, the volume of goods being transported.

The attribute information of the autonomous vehicle may also include the unloading location of the goods being transported by the autonomous vehicle. The unloading location may be a certain area, a certain hub service area, or a certain hub service area. The specific warehouse can also be a more detailed or rough address.

The attribute information of the autonomous vehicle may also include the drivable area of the autonomous vehicle, that is, the geographical area that the autonomous vehicle can reach.

The attribute information of the autonomous vehicle can be determined according to one or more of the following parameters:

(1) The working status of the autonomous vehicle. This parameter can be obtained by connecting the power system 100, sensor system 200, actuation system 300, peripheral equipment system 400, and vehicle computing system 500 of the autonomous vehicle. This parameter may include automatic driving Cargo/person driving, no-load driving, parking rest, temporary parking, waiting for loading/unloading, loading/unloading, etc.;

(2) The requirements corresponding to the tasks performed by the self-driving car. The parameters can be obtained by connecting to the business order system. The parameters can include the starting place and/or destination of the manned task, the start time of the manned task and/ Or end time, the start and/or destination of the cargo transportation task, the start and/or end time of the cargo transportation task, and the type of goods in the cargo transportation task (such as daily necessities, dangerous goods, frozen products, etc.);

(3) The current position of the self-driving car. This parameter can be obtained by connecting the sensor system 200 of the self-driving car. The parameter can include the positioning data (such as latitude and longitude information) obtained by the position sensor 201 of the self-driving car;

(4) The driving route of the self-driving car. This parameter can be obtained by the vehicle computing system 500 connected to the self-driving car. The parameter can include that the self-driving car drives from the starting point of the task to perform the manned/cargo task. The planned driving route between the destinations of the task;

(5) The fuel level of the self-driving car. This parameter can be obtained by connecting the sensor system 200 of the self-driving car and the vehicle computing system 500. The parameter can include information such as the maximum fuel capacity of the fuel tank of the self-driving car, the remaining fuel level, etc. ；

(6) The restricted area of the autonomous vehicle. This parameter can be obtained by connecting to the public transportation system. The parameter may include the restricted area of the corresponding license plate number, and may also include the restricted area of automatic driving vehicles and other information.

The attribute information of the autonomous vehicle can also be determined according to other parameters. Hereinafter, the parameters (not limited to the parameters (1) to (6) above) used to determine the vehicle requirements of the autonomous driving vehicle are collectively referred to as vehicle-related parameters.

8. Central control coordination equipment to determine demand solutions

Referring to the scenarios shown in Figures 5 and 6, the central control system is connected to multiple autonomous vehicles and multiple hub service areas through network resources. When the central control coordination device determines that a vehicle service is needed in a certain hub service area (current hub service area) of the network, it determines the demand solution.

Referring to the scenarios shown in FIG. 5 and FIG. 6, in some embodiments, the process of determining the demand solution by the central control coordination device may include the following steps A1 to A2:

Step A1: The central control coordination device judges whether there is a service area demand in the current hub service area.

Step A2: When the central control coordination device determines that there is a service area demand in the current hub service area, it determines a demand solution.

Several representative implementations of the examples are described below.

The central control coordination device can actively determine whether there is a service area demand in the current hub service area. The process in which the central control coordination device actively judges whether there is a service area demand in the current hub service area may include the following steps A11 to A12:

Step A11: The central control coordination device obtains the service area related parameters of the current hub service area.

The central control coordination device can obtain the service area related parameters of the current hub service area through the monitoring module in the central control system.

The relevant parameters of the service area may include one or more parameters such as the use of spare vehicles, the transportation plan of the stored goods, the occupancy of the storage space, and the lack of materials at each service station in the hub service area.

Step A12: The central control coordination device judges whether there is a service area demand in the current hub service area according to the service area related parameters of the current hub service area.

In an example, when the usage of the backup vehicle indicates that the actual number of a certain type of backup vehicle is less than the rated number of that type of backup vehicle, the central control coordination device can determine that the current hub service area has a service area demand.

In an example, when the transportation plan of the warehoused goods indicates that there are goods to be transported in the warehouse, the central control coordination device can determine that there is a service area demand in the current hub service area.

In an example, when the occupancy of the storage space indicates that there is free storage space in the warehouse, the central control coordination device can determine that there is a service area demand in the current hub service area.

In an example, when the lack of materials at each service station in the hub service area indicates that one or more service stations lack one or more materials, the central control coordination device can determine that there is a service area demand in the hub service area .

The central control coordination device can trigger in real time the process of obtaining the service area related parameters of the current hub service area and judging whether there is a service area demand in the current hub service area, that is, the central control coordination device is connected to the network of the central control system from the current hub service area , Cyclically obtain the service area related parameters of the current hub service area and determine whether there is a service area demand in the current hub service area.

The central control coordination device can trigger the process of obtaining the service area related parameters of the current hub service area and determine whether there is a service area demand in the current hub service area according to the preset time interval. For example, the central control coordination device executes the acquisition every hour The service area related parameters of the current hub service area and the process of judging whether there is a service area demand in the current hub service area.

The central control coordination device can trigger the process of judging whether there is a service area demand in the current hub service area when the predetermined conditions are fulfilled. The predetermined conditions here can include, but are not limited to, one or more of the following: there is a spare car driving out of the spare car service station, the goods are being transported away from the storage service station, the goods are unloaded and stored in the storage service station, maintenance services The station issued a warning message of lack of spare auto parts.

The central control coordination device can trigger the process of obtaining the service area related parameters of the current hub service area and judging whether there is a service area demand in the current hub service area according to the preset time interval, and also trigger this judgment process when the predetermined conditions are fulfilled.

The central control coordination device can also passively determine whether there is a service area demand in the current hub service area. The process of the central control coordination device passively judging whether there is a service area demand in the current hub service area may include the following steps A13 to A15:

Step A13: The hub coordination device obtains the service area related parameters of the current hub service area.

Step A14: The hub coordination device determines whether there is a service area demand in the current hub service area according to the service area related parameters of the current hub service area.

The hub coordination device can use the service area related parameters of the current hub service area to determine whether there is a service area demand in the current hub service area.

In an example, when the usage of the backup vehicle indicates that the actual number of a certain type of backup vehicle is less than the rated number of the type of backup vehicle, the hub coordination device can determine that there is a service area demand in the current hub service area.

In one example, when the transportation plan of the warehoused goods indicates that there are goods to be transported in the warehouse, the hub coordination device can determine that there is a service area demand in the current hub service area.

In an example, when the occupancy of the storage space indicates that there is free storage space in the warehouse, the hub coordination device can determine that there is a service area demand in the current hub service area.

In an example, when the lack of materials at each service station in the hub service area indicates that one or more service stations lack one or more materials, the hub coordination equipment can determine that there is a service area demand in the current hub service area .

Step A15: When the hub coordination device determines that there is a service area demand in the current hub service area, it sends a reminder message to the central control coordination device so that the central control coordination device determines that the current hub service area has a service area demand.

The demand solution can include the identification of the current autonomous vehicle, the identification of the target hub service area, and the task list.

The process of determining the demand solution by the central control coordination device may include the following steps A21 to A23:

Step A21: The central control coordination device determines the identifier of the current hub service area where the service area demand exists.

Step A22: The central control coordination device determines the target autonomous vehicle and its identification.

Step A23, the central control coordination device determines the task list.

Wherein, in step A21, the central control coordination device may obtain the identifier of the current hub service area by communicating with the hub coordination device, and the identifier may be the identity ID and/or network contact address of the current hub service area. In an example, the reminder message sent by the hub coordination device to the central control coordination device includes the identifier of the current hub service area.

Step A22 The process of the central control coordination device determining the target autonomous driving vehicle may include the following steps:

Step A221: The central control coordination device determines the detailed service area requirements of the current hub service area.

The detailed requirements of the service area may include the tasks to be performed and the vehicle resources required to perform the tasks.

The central control coordination device can determine the tasks to be performed and the vehicle resources required to perform the tasks according to the relevant parameters of the service area of the current hub service area.

In one example, when the use of spare vehicles indicates that the actual number of spare vehicles with autonomous mobility such as passenger cars, commercial vehicles, tractors, etc., is less than the corresponding rated number, the hub coordination equipment can determine the tasks that need to be performed It is: to supply a spare car, and it is determined that the vehicle resources required to perform the task include an autonomous vehicle that meets the following conditions: the model is the same as the model of the spare car with autonomous mobility. Passenger cars, commercial vehicles, tractors, and other types of backup vehicles have power units that can move autonomously, and can autonomously move from places other than the current hub service area to the current hub service area to complete the supply of corresponding types of spare vehicles Task. Therefore, the vehicle resources required to perform the task can be directly determined as an autonomous vehicle that is consistent with the model of the standby vehicle with autonomous mobility.

For example, the rated number of tractors in the standby vehicle service station is 10, and at a certain moment in the area near the current hub service area, an autonomous driving truck is stopped due to a tractor failure, and the self-driving truck sends a call for help to the current hub service area. Request: After the current hub service area receives the request for help, its road rescue service station dispatches a tractor from the standby service station to the rescue station to replace the failed tractor and continue driving. The actual number of tractors in the standby vehicle service station is therefore less than the rated number. At this time, the hub coordination equipment can determine that the task that needs to be performed is: supply the standby vehicle, and the vehicle resources required to perform the task include: tractor.

In an example, when the use of the spare vehicle indicates that the actual number of spare vehicles that do not have autonomous mobility such as trailers is less than the corresponding rated number, the hub coordination device can determine that the task to be performed is: replenish the spare vehicle and determine to perform the task The required vehicle resources include self-driving vehicles that meet the following conditions: The vehicle body includes the standby vehicle (such as a trailer) that does not have the ability to move autonomously and the power equipment (such as a tractor) that can drive the standby vehicle that does not have the ability to move autonomously. . Types of backup vehicles such as trailers do not have power units and cannot move autonomously. Therefore, they cannot autonomously move from places other than the current hub service area to the current hub service area. Instead, they need to be driven by tractors and other equipment that can drive them. Drive to the current hub service area to complete the task of replenishing the corresponding type of spare vehicle. Therefore, the body structure of the autonomous vehicle required to perform the task needs not only to include the spare vehicle that does not have the ability to move autonomously, but also to be able to drive the vehicle. Power equipment for the movement of a standby vehicle with autonomous mobility.

For example, the rated number of trailers in the standby vehicle service station is 10, and at a certain moment in the area near the current hub service area, an autonomous driving truck is stopped due to a trailer failure, and the autonomous driving truck sends a distress request to the current hub service area. After the current hub service area receives the request for help, its road rescue service station dispatches the tractor in the standby vehicle service station to tow a trailer to the rescue station to replace the failed trailer, and then the tractor returns to the standby vehicle in the current hub service area In the service station. Therefore, the actual number of trailers in the standby vehicle service station is less than the rated number. At this time, the hub coordination equipment can determine that the task that needs to be performed is: replenish the standby vehicle, and determine the vehicle resources required to perform the task include: the vehicle body includes trailers and trailers. Self-driving car with tractor.

In one example, when the transportation plan of warehoused goods indicates that there are goods to be transported in the warehouse, the hub coordination equipment can determine that the tasks that need to be performed are: load and transport the goods, and determine that the vehicle resources required to perform the tasks include one of the following or Autonomous driving vehicle with multiple conditions: The type of cargo that can be loaded covers the type of cargo corresponding to the task, the volume of the cargo that can be loaded is greater than or equal to the volume of the cargo corresponding to the task, and the drivable area includes the location of the current hub service area.

For example, there is a batch of frozen seafood in the current hub service area in Guangzhou that needs to be transported to Beijing. The volume of this batch of frozen seafood is 20 cubic meters. The hub coordination equipment can determine that the vehicle resources required to perform the task include meeting one or more of the following conditions Autopilot: The types of cargo that can be loaded include frozen seafood, the volume of cargo that can be loaded is greater than or equal to 20 cubic meters, and the driving area includes Guangzhou.

In an example, when the occupancy of the storage space indicates that there is free storage space, the hub coordination equipment can determine that the tasks that need to be performed are: unload the goods to the free storage space; and determine that the vehicle resources required to perform the task include An autonomous vehicle with one or more of the following conditions: The destination of the goods being transported includes the address of the hub service area, the type of goods being transported is included in the types of goods that can be stored in the free storage space, and the goods being transported The volume of the goods is less than or equal to the volume of the free storage space.

For example, the current hub service area in Baiyun District, Guangzhou has 50 cubic meters of free storage space, which can be used for medicines and food. The hub coordination equipment can determine that the vehicle resources needed to perform the task include automatic vehicles that meet one or more of the following conditions. Driving car: The destination of the goods being transported includes Baiyun District, Guangzhou, the type of goods being transported is medicine or food, and the volume of the goods being transported is less than or equal to 50 cubic meters.

Step A222: The central control coordination device obtains attribute information of at least one autonomous vehicle.

The attribute information of the self-driving car may include one or more of the following information: the type of the self-driving car, the body structure of the self-driving car, the type of cargo that the self-driving car can load, the volume of the cargo that can be loaded by the self-driving car, The type of goods being transported by the self-driving car, the volume of the goods being transported by the self-driving car, the destination of the goods being transported by the self-driving car, and the driving area of the self-driving car.

The central control coordination device can obtain the vehicle-related parameters of the self-driving car through the monitoring module in the central control system, and determine the attribute information of the corresponding self-driving car accordingly.

In step A223, the central control coordination device determines a candidate autonomous vehicle based on the detailed service area requirements of the current hub service area determined in step A221 and the attribute information of at least one autonomous vehicle acquired in step A222.

The central control coordination device can determine whether the corresponding autonomous vehicle meets the conditions of the vehicle resources required to perform the task included in the detailed requirements of the service area according to the attribute information of each autonomous vehicle. If the conditions are met, the corresponding autonomous vehicle can be determined as Candidate for self-driving cars. Wherein, meeting the conditions includes at least one of the following situations:

(1) The model of the self-driving car meets the requirements of vehicle resource requirements for the task;

(2) The body structure of the self-driving vehicle meets the requirements of vehicle resources required to perform the task;

(3) The type of cargo that can be loaded by the self-driving vehicle meets the requirements of vehicle resources required to perform the task;

(4) The volume of cargo that can be loaded by the self-driving vehicle meets the requirements of vehicle resources required to perform the task;

(5) The type of goods being transported by the self-driving vehicle meets the requirements of vehicle resources required to perform the task;

(6) The volume of goods being transported by the autonomous vehicle meets the requirements of vehicle resources required to perform the task;

(7) The destination of the goods being transported by the self-driving vehicle meets the requirements of the vehicle resources required to perform the task;

(8) The driving area of the autonomous vehicle meets the requirements of vehicle resources required to perform the task.

In an example, the actual number of a certain type of autonomous mobility capable backup vehicle in the backup vehicle service station is less than the rated number, and the vehicle resources required to perform the task include the autonomous vehicle that meets the following conditions: the vehicle type and this type of autonomous mobility The models of the capable backup vehicles are the same. Therefore, when the attribute information of a certain autonomous vehicle indicates that the model of the autonomous vehicle is consistent with the model of the backup vehicle with autonomous mobility, the autonomous vehicle meets the conditions.

In one example, the actual number of some kind of spare cars that do not have autonomous mobility in the spare car service station is less than the rated number, and the vehicle resources required to perform the task include autonomous vehicles that meet the following conditions: the car body structure includes this type A spare car that does not have the ability to move autonomously and the power equipment that can drive the spare car that does not have the ability to move autonomously. Therefore, when the attribute information of a certain autonomous vehicle indicates that the body structure of the autonomous vehicle not only includes this kind of When a standby vehicle with autonomous mobility capability also includes power equipment capable of driving the standby vehicle without autonomous mobility capability, the autonomous vehicle meets the conditions.

In one example, there are goods that need to be transported in the current hub service area, and the vehicle resources required to perform the task include autonomous vehicles that meet one or more of the following conditions: the type of goods that can be loaded covers the type of goods corresponding to the task, and The volume of the loaded cargo is greater than or equal to the volume of the cargo corresponding to the task, and the drivable area includes the location of the current hub service area. When the attribute information of a certain self-driving vehicle indicates that the type of goods that can be loaded by the self-driving vehicle covers the type of goods corresponding to the task, or the volume of the goods that can be loaded by the self-driving vehicle is greater than or equal to the volume of the goods corresponding to the task , Or, when the autonomous vehicle's travelable area includes the location of the current hub service area, the autonomous vehicle meets the conditions.

In one example, when there is free storage space in the current hub service area, the vehicle resources required to perform the task include autonomous vehicles that meet one or more of the following conditions: The destination of the goods being transported includes the address of the hub service area, The type of goods being transported is included in the types of goods that can be stored in the free storage space, and the volume of the goods being transported is less than or equal to the volume of the free storage space. When the attribute information of a certain self-driving vehicle shows that the destination of the goods being transported by the self-driving vehicle includes the address of the hub service area, or the type of goods being transported by the self-driving vehicle is covered by the free storage space that can be stored Among the types of goods, or when the volume of the goods being transported by the autonomous vehicle is less than or equal to the volume of the free storage space, the autonomous vehicle meets the conditions.

Step A224: The central control coordination device determines the target autonomous vehicle from the candidate autonomous vehicles.

The central control coordination device can comprehensively consider the vehicle-related parameters of each candidate autonomous vehicle and some basic information of the current hub service area (which may include the current hub service area’s identification, address, payable remuneration, etc.) and detailed service area requirements. Determine whether the corresponding candidate autonomous vehicle is suitable for solving the service area demand for the current hub service area. The central control coordination device can determine a candidate autonomous vehicle that is suitable for the current hub service area to meet the needs of the service area as the target autonomous vehicle.

The central control coordination device may also select one or more of the candidate autonomous vehicles as the target autonomous vehicle according to some predetermined criteria. These predetermined criteria may include, but are not limited to, one or more of the following: The candidate autonomous vehicle with the closest service area of the hub is determined as the target autonomous vehicle; among them, the candidate autonomous vehicle that reaches the current hub service area the fastest is determined as the target autonomous vehicle; among them, the candidate with the largest volume of cargo can be loaded The self-driving car is determined as the target self-driving car; the candidate self-driving car with the lowest required payment is determined as the target self-driving car; the number of vehicles required to solve the service demand is determined and the corresponding number of candidate self-driving cars are selected as the target self-driving car Target autonomous vehicles, etc.

The central control coordination device may obtain the identification of the target autonomous driving vehicle by communicating with the vehicle coordination device in the target autonomous driving vehicle, and the identification may be the identity ID and/or network contact address of the target autonomous driving vehicle.

The task list may include one or more of the tasks that need to be performed, the location of the task, the time of performing the task, the reward for performing the task, and the authentication method used when performing the task.

In step A23, the process of determining the task list by the central control coordination device may include the following steps A231 and one or more steps from A232 to A235:

In step A231, the central control coordination device determines the tasks to be performed.

The central control coordination device can determine the tasks that need to be performed according to the relevant parameters of the service area of the current hub service area.

The relevant parameters of the service area include one or more parameters such as the use of spare vehicles, the transportation plan of the stored goods, the occupancy of the storage space, and the lack of materials at each service station in the hub service area.

In an example, when the use of spare vehicles indicates that the actual number of spare vehicles with autonomous mobility such as passenger cars, commercial vehicles, tractors, etc., is less than the corresponding rated number, the central control coordination device can determine what needs to be executed The task is to supply spare cars.

In an example, when the use of the spare vehicle indicates that the actual number of spare vehicles that do not have autonomous mobility such as trailers is less than the corresponding rated number, the central control coordination device can determine that the task that needs to be performed is: supply the spare vehicle.

In an example, when the transportation plan of the warehoused goods indicates that there are goods to be transported in the warehouse, the central control coordination device can determine that the task to be performed is: loading and transporting the goods.

In an example, when the occupancy of the storage space indicates that there is free storage space, the central control coordination device can determine that the task to be performed is: unloading the goods to the free storage space.

In an example, when the lack of materials at each service station in the hub service area indicates that one or more service stations lack one or more materials, the central control coordination device can determine that the task to be performed is: replenishment Supplies.

The central control coordination device can also directly determine the tasks to be performed included in the determined detailed requirements of the service area as the tasks to be performed in the task list.

Step A232, the central control coordination device determines the location to perform the task.

The location of the task in the task list can be a certain hub service area, a certain service station in the hub service area, or other more detailed or rough locations.

In an example, when the central control coordination device determines that the task to be performed is to supply a spare car, it can determine the location of the task to be performed as a spare car service station in the current hub service area, and it can also determine the location of the task to be performed as a spare car. For specific parking spaces in the service station, if there are multiple backup car service stations in the current hub service area, the location of the task can also be determined as the backup car service station that needs to be supplied with the backup car.

In an example, when the central control coordination device determines that the task to be performed is to load and transport goods, it can determine the location of the task to be performed as the storage service station in the current hub service area, and it can also determine the location of the task to be performed as the storage service station. You can also determine the location of the task to be performed as a specific platform in the specific warehouse. If there are multiple storage service stations in the current hub service area, you can also determine the location of the task to be the one that stores the goods to be transported. Warehousing service station.

In an example, when the central control coordination device determines that the task to be performed is to unload the goods to a free storage space, the location of the task can be determined as the storage service station of the current hub service area, and the location of the task can also be determined For the specific warehouse in the warehousing service station, the location of the task can also be determined as the specific platform in the specific warehouse. If there are multiple warehousing service stations in the current hub service area, the location of the task can also be determined as the free one. The storage service station where the storage space is located.

Step A233: The central control coordination device determines the authentication method used when executing the task.

The central control coordination device can determine the authentication method used by the entity interacting with the target autonomous vehicle in the current hub service area as the authentication method used when performing the task, and then send it to the vehicle coordination device of the target autonomous vehicle Contains the notification message of the authentication method used when performing the task, so that the vehicle coordination equipment of the target autonomous driving vehicle determines the authentication method used when performing the task.

The authentication method used when performing the task may include the type of technology used for authentication, the legal identity information of both parties, and so on.

In an example, the identity verification device in the backup car service station adopts an SSL certificate verification method, and the central control coordination device can determine the authentication method used when performing the task of replenishing the spare car including: SSL certificate verification method and target automatic driving The legal identity information of the vehicle and the legal identity information of the current hub service area. Wherein, the legal identity information of the target autonomous vehicle may be the identity ID of the current autonomous vehicle, network contact address, or other information used for verification. The legal identity information of the current hub service area may be the identity ID of the target hub service area, network contact address, or other information used for verification.

Step A234, the central control coordination device determines the time to execute the task.

The task execution time in the task list may be the start time and/or duration of the task execution. Among them, the start time and/or duration can be accurate to the year, month, day, hour, minute, and second information.

The central control coordination device can determine the time when the target autonomous vehicle arrives at the location of the task based on the vehicle-related parameters of the target autonomous vehicle, and can further determine the start time of the task execution in the task list based on the time of arrival at the location to perform the task. The central control coordination device can also determine the time required to complete the task according to the task to be performed, and determine it as the duration of the task in the task list.

Step A235: The central control coordination device determines the remuneration for performing the task.

The central control coordination device may predetermine the remuneration standard for each task that needs to be performed, and then calculate the remuneration for the target autonomous vehicle to complete the task that needs to be performed based on the remuneration standard.

9. The entity in the current hub service area controlled by the hub coordination device interacts with the target autonomous vehicle controlled by the vehicle coordination device according to the demand solution

Referring to the scenarios shown in Figure 5 and Figure 6, after the central control coordination device determines the demand solution, it sends the demand solution to the vehicle coordination device of the target autonomous vehicle and the hub coordination device of the current hub service area. Thereafter, the target autonomous vehicle and the entities in the current hub service area will interact according to the demand solution.

Among them, the vehicle service plan may include the identification of the current autonomous vehicle, the identification of the target hub service area, and a task list. The task list may include one or more of the tasks that need to be performed, the location to perform the task, the time to perform the task, the reward for performing the task, and the authentication method used when performing the task.

In some embodiments, the process for the entity in the current hub service area and the target autonomous vehicle to interact with the on-demand solution may include the following steps B1 to B4:

Step B1: The hub coordination device of the current hub service area determines the target autonomous vehicle according to the target autonomous vehicle identification included in the demand solution; the vehicle coordination device determines its own corresponding to the target autonomous vehicle identification included in the demand solution When the self-driving vehicle is the target self-driving vehicle, continue to determine the current hub service area with service area demand based on the current hub service area identifier included in the demand solution.

The identity of the target autonomous vehicle may include the identity ID and/or network contact address of the target autonomous vehicle, and the identity of the current hub service area may include the identity ID and/or network contact address of the current hub service area.

The central control coordination device may also send to the vehicle coordination device of the target autonomous vehicle a notification message that the corresponding autonomous vehicle has been determined to be the target autonomous vehicle, so that the vehicle coordination device of the target autonomous vehicle determines according to the notification message. The self-driving car corresponding to itself is the target self-driving car.

Step B2: The vehicle coordination device of the target autonomous driving vehicle controls the target autonomous driving vehicle to travel to the location included in the task list to perform the task.

In an example, the task that needs to be performed in the task list is to replenish the spare car, the place to perform the task is the spare car service station or the specific parking space in the spare car service station, and the vehicle coordination device of the target autonomous vehicle controls the target autonomous vehicle Drive to the standby car service station or a specific parking space in it.

In an example, the tasks that need to be performed in the task list are loading and transporting goods, the location of the tasks is the storage service station or the specific warehouse or the specific platform in the storage service station, and the vehicle coordination equipment of the target autonomous driving vehicle controls the target automatically Drive the car to the storage service station or a specific warehouse or a specific platform therein.

In an example, the task that needs to be performed in the task list is to unload the goods to a free storage space, the location of the task to be performed is the storage service station or a specific warehouse or a specific platform in the storage service station, and the vehicle coordination of the target autonomous vehicle The device controls the target autonomous vehicle to drive to the storage service station or a specific warehouse or a specific platform therein.

The vehicle coordination device of the target autonomous driving vehicle can control the target autonomous driving vehicle to arrive at the location of the execution of the task according to the start time of the execution of the task included in the task list.

Step B3: The hub coordination device controls the entities in the current hub service area to interact with the target autonomous vehicle controlled by the vehicle coordination device to complete the tasks that need to be performed.

The vehicle coordination device and the hub coordination device respectively control the target autonomous vehicle and the entities in the current hub service area to authenticate each other according to the authentication methods used when performing tasks included in the task list. The target autonomous vehicle and the entity in the current hub service area interact to complete the tasks that need to be performed after the authentication is successful.

The authentication method may include the type of technology used for authentication, the legal identity information of both parties, and so on. Among them, the types of technologies used for authentication can include, but are not limited to, authentication methods based on public key encryption algorithms (such as SSL certificates, digital signatures), HTTP basic authentication, HTTP Basic Authentication, server-side sessions-browser-side web trackers Verify one or more of session-cookie, token verification, open authorization OAuth verification, etc.

When the entity is equipment such as vehicle identification equipment, cranes, handling robots, loading and unloading platforms, charging equipment, etc., the target autonomous vehicle can directly authenticate each other with the corresponding equipment.

When the entity is an operator, the target autonomous vehicle can perform mutual authentication with the terminal device held by the operator.

The hub coordination device can control the entities in the current hub service area to pay remuneration to the target autonomous vehicle that completes the task according to the remuneration for performing the task included in the task list. This process can be completed by means of network transfer.

The vehicle coordination equipment can verify whether the remuneration paid by the entity in the current hub service area to the target autonomous vehicle that completes the task is consistent with the remuneration included in the task list to perform the task. If the two are inconsistent, it means that the entity in the current hub service area pays If the remuneration is wrong, it is necessary to supplement the underpaid remuneration or refund the excess remuneration.

Step B4: The hub coordination device and the vehicle coordination device record a log of the interaction process between the entities in the current hub service area and the autonomous vehicle.

The vehicle coordination device and/or the hub coordination device may record a log during the interaction between the target autonomous vehicle and the entity in the current hub service area. The log may include one or more types of information such as the start time, end time, duration, authentication result, and actual payment of the interaction between the target autonomous vehicle and the entity.

10. With reference to the scenarios shown in Figures 5 and 6, in an example, the central control coordination device determines whether there is a service area demand in the hub service area HUB-1 networked with the central control system every 2 hours.

In this example, at a certain moment, the central control coordination device obtains the following standby vehicle usage through the parking controller of the standby vehicle service station in the hub service area HUB-1:

(1) The standby vehicle service station includes five types of standby vehicles: semi-trailer tractor, semi-trailer, full-trailer tractor, semi-trailer tractor, and van;

(2) The rated number of semi-trailer tractors is 10, and the actual number is 7;

(3) The rated number of semi-trailers is 10, and the actual number is 10;

(4) The rated number of full trailer tractors is 10, and the actual number is 10;

(5) The rated number of full trailers is 10, and the actual number is 10;

(6) The rated number of vans is 5, and the actual number is 4.

The central control and coordination equipment can determine that the actual number of semi-trailer tractors is less than the rated number and the actual number of vans is also less than the rated number based on the above-mentioned standby vehicle usage. Therefore, the hub service area HUB-1 has service area demand.

Further, the central control coordination equipment determines the detailed requirements of the service area, including the following information:

(1) The tasks that need to be performed are: supply spare vehicles;

(2) The vehicle resources required to perform the task include: 3 semi-trailer tractors and 1 van.

The central control coordination device obtains the attribute information of multiple autonomous vehicles networked with the central control system through the monitoring module of the central control system. The attribute information of each autonomous vehicle in this example is shown in Table 1:

Table 1

自动驾驶车的标识Self-driving car logo	车型Model	与枢纽服务区HUB-1的距离Distance from hub service area HUB-1
ADV-0001ADV-0001	厢式货车cargo	2km2km
ADV-0002ADV-0002	全挂牵引车Trailer truck	1.5km1.5km
ADV-0003ADV-0003	半挂牵引车Semi-trailer tractor	1km1km
ADV-0004ADV-0004	全挂牵引车Trailer truck	5km5km
ADV-0005ADV-0005	半挂牵引车Semi-trailer tractor	3km3km
ADV-0006ADV-0006	半挂牵引车Semi-trailer tractor	0.5km0.5km
ADV-0007ADV-0007	厢式货车cargo	3km3km
ADV-0008ADV-0008	轿车car	5km5km
ADV-0009ADV-0009	运动型多用途车Sport utility vehicle	6km6km

The central control coordination device judges whether the corresponding autonomous vehicle meets the conditions of vehicle resources required to perform the task included in the detailed requirements of the service area according to the attribute information of each autonomous vehicle, and determines the eligible autonomous vehicle as a candidate for autonomous driving car.

According to the attribute information of each autonomous vehicle in Table 1 and the detailed requirements of the above service area, the central control coordination device determines the candidate autonomous vehicles from the autonomous vehicles ADV-0001 to ADV-0009: ADV-0001 (van), ADV-0003 (semi-trailer tractor), ADV-0005 (semi-trailer tractor), ADV-0006 (semi-trailer tractor), ADV-0007 (van truck).

The vehicle resources required to perform the task include a van. Therefore, the central control coordination device should select one of ADV-0001 (van) and ADV-0007 (van) as the target autonomous vehicle. Since the distances between ADV-0001 (van truck) and ADV-0007 (van truck) and HUB-1 in the hub service area are 2km and 3km, respectively, the central control coordination equipment is based on the principle of the closest distance to the hub service area HUB-1 , To determine ADV-0001 (van) as the target autonomous vehicle.

At the same time, the vehicle resources required to perform the task include three semi-trailer tractors, and there are exactly three semi-trailer tractors among the candidate autonomous vehicles. Therefore, the central control coordination device directly connects these three candidate autonomous vehicles ADV-0003 (semi-trailer). Trailer tractor), ADV-0005 (semi-trailer tractor), ADV-0006 (semi-trailer tractor) are all identified as target autonomous vehicles.

Subsequently, the central control coordination equipment was determined for the target autonomous vehicles ADV-0001 (van truck), ADV-0003 (semi-trailer tractor), ADV-0005 (semi-trailer tractor), and ADV-0006 (semi-trailer tractor). A list of tasks, these task lists are shown in Table 2 below:

Table 2

The central control coordination device sends a notification message to the autonomous vehicles ADV-0001, ADV-0003, ADV-0005, and ADV-0006 that the corresponding autonomous vehicle has been determined as the target autonomous vehicle, and will determine the task list and The identifier of the hub service area HUB-1 is sent to the vehicle coordination device of the corresponding target autonomous driving vehicle, and the identification and task list of each target autonomous vehicle are sent to the hub coordination device of the hub service area HUB-1.

According to the above task list, the vehicle coordination devices in the target autonomous vehicles ADV-0001, ADV-0003, ADV-0005, and ADV-0006 respectively control the corresponding target autonomous vehicles to travel to the standby vehicle service in the hub service area HUB-1 Station, waiting to interact with the entity in the standby car service station.

When each of the above-mentioned target autopilots drives to the entrance of the parking lot of the reserve car service station, the camera configured in the vehicle recognition equipment of the reserve car service station collects images of each target autopilot, and the image processing is configured in the vehicle recognition equipment The device recognizes the type of the target autonomous driving vehicle from the collected images. The communication unit configured in the vehicle identification device receives the password information sent by the target autonomous driving vehicle through V2X technology. The information processor uses the authentication method in the task list for the password. The information is verified. When the verification is successful, the vehicle identification device sends an indication message of successful verification to the parking lot controller of the backup car service station. After receiving the indication message, the parking lot controller controls the electric barrier at the entrance of the parking lot to open. Allow the target to drive into the parking lot on the autonomous driving side.

11. With reference to the scenarios shown in Figures 5 and 6, in an example, the central control coordination device judges in real time whether there is a service area demand in the hub service area HUB-2 networked with the central control system.

In this example, at a certain moment, the central control coordination device obtains the warehouse cargo transportation plan of the hub service area HUB-2 through the connection to the business order system:

(1) The storage service station includes 10 warehouses, numbered D0～D9;

(2) Warehouses D0～D1 are used to store pharmaceutical goods, warehouses D2～D6 are used to store daily necessities and food (normal temperature preservation) goods, and warehouses D7～D9 are used to store frozen food goods;

(3) There is a batch of 10 cubic meters of drugs in warehouse D0 that needs to be transported to Guangzhou, and the business order number is YD20190819004;

(4) There are no goods to be transported in warehouses D1～D9.

According to the above-mentioned storage cargo transportation plan, the central control coordination equipment determines that there is cargo in the storage service station that needs to be loaded and transported, so there is a service area demand in the hub service area HUB-2.

Further, the central control coordination equipment determines the detailed requirements of the service area of the hub service area HUB-2, including the following information:

(1) The tasks that need to be performed are: loading and transporting goods;

(2) The vehicle resources required to perform the task include autonomous vehicles that meet the following conditions: the types of cargo that can be loaded include medicines, the volume of cargo that can be loaded is greater than or equal to 10 cubic meters, and the driving area includes the hub service area HUB-2 The seat of Beijing.

The central control coordination device obtains the attribute information of multiple autonomous vehicles networked by the central control system through the monitoring module of the central control system, and judges whether the corresponding self-driving vehicle meets the requirements of the aforementioned tasks according to the attribute information of each autonomous vehicle The condition of the resource. Table 3 below shows the attribute information of these autonomous vehicles and the corresponding judgment results:

table 3

The central control coordination device determines, according to the judgment result, that the autonomous vehicle that meets the conditions of the vehicle resources required for the execution of the task is ADV-0011, and determines it as the target autonomous vehicle.

Subsequently, the central control coordination device determined the task list shown in Table 4 below for the target autonomous vehicle ADV-0011:

Table 4

The central control coordination device sends a notification message to the vehicle coordination device of the autonomous driving vehicle ADV-0011 that the corresponding autonomous vehicle is determined to be the target autonomous vehicle, and sends the above-mentioned task list and the hub service area identification HUB-2 to the autonomous driving Vehicle coordination equipment for ADV-0011.

According to the above task list, the vehicle coordination equipment controls the target autonomous vehicle ADV-0011 to drive to the platform of the warehouse D0 of the warehouse truck service station in the hub service area HUB-2, and interact with entities in the warehouse truck service station.

The vehicle controller first controls the target autonomous vehicle ADV-0011 to interact with the identity verification device in the storage truck service station according to the authentication method included in the task list to complete the authentication, and then the handling robot, forklift and other entities in the storage service station will The medicines and goods that need to be transported are transported to the carriage of the target autonomous driving vehicle ADV-0011. When the loading is completed, the target autonomous driving vehicle ADV-0011 drives out of the storage service station and the hub service area HUB-2 in turn to transport the goods to the destination Guangzhou.

12. With reference to the scenarios shown in Figure 5 and Figure 6, in an example, the central control coordination device judges the hub service area when the monitoring module of the central control system monitors that there is goods out of the warehouse in the hub service area HUB-3 Whether there is a service area requirement for HUB-3.

In this example, at a certain moment, the central control coordination device obtains the following storage space occupancy through the storage controller connected to the storage service station:

(1) The storage service station includes 10 warehouses, numbered D0～D9;

(3) The maximum volume of warehouse D0～D5 are all 200m ³ , and the remaining volume is 0;

(4) The maximum volume of warehouses D6～D8 is 300m ³ , and the remaining volume is 0;

(5) The maximum volume of warehouse D9 is 300m ³ , and the remaining volume is 30m ³ .

The central control coordination equipment determines that there is free storage space in the storage service station according to the above-mentioned storage space occupation, so there is a service area demand in the hub service area HUB-3.

Further, the central control coordination equipment determines the detailed requirements of the service area of the hub service area HUB-3, including the following information:

(1) The task that needs to be performed is: unload the goods to the free storage space;

(2) The vehicle resources required to perform the task include autonomous vehicles that meet the following conditions: The destination of the goods being transported includes the address of the hub service area HUB-3, Beijing, and the type of goods being transported is the type of goods that can be stored in warehouse D9 For frozen food, the volume of the goods being transported is less than or equal to 30m ³ .

The central control coordination device obtains the attribute information of multiple autonomous vehicles networked by the central control system through the monitoring module of the central control system, and judges whether the corresponding self-driving vehicle meets the requirements of the aforementioned tasks according to the attribute information of each autonomous vehicle The condition of the resource. Table 5 below shows the attribute information of these autonomous vehicles and the corresponding judgment results:

table 5

According to the judgment result, the central control coordination device determines that the autonomous vehicle that meets the conditions of the vehicle resources required for the execution of the task is ADV-0019, and determines it as the target autonomous vehicle.

Subsequently, the central control coordination device determined the task list shown in Table 6 below for the target autonomous vehicle ADV-0019:

Table 6

The central control coordination device sends a notification message to the vehicle coordination device of the autonomous vehicle ADV-0019 that the corresponding autonomous vehicle is determined to be the target autonomous vehicle, and sends the above-mentioned task list and the hub service area identification HUB-3 to the autonomous driving Vehicle coordination equipment for ADV-0019.

After determining the above task list, the vehicle coordination equipment controls the target autonomous vehicle ADV-0019 to drive to the warehouse D9 of the warehouse truck service station in the hub service area HUB-3, and interact with entities in the warehouse truck service station.

The vehicle controller first controls the target autonomous vehicle ADV-0019 and the identity verification device in the storage truck service station to complete the authentication according to the authentication method included in the task list, and then the handling robot, forklift or crane in the storage service station, etc. The entity unloads the frozen food loaded in the carriage and transports it to the free storage space of warehouse D9. When the unloading is completed, the target autonomous vehicle ADV-0019 drives out of the storage service station and the hub service area HUB-3 in turn.

Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated according to needs. It is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be divided. It can be combined or integrated into another device, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate. The parts displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product, and the software product is stored in a storage medium. It includes several instructions to make a device (may be a single-chip microcomputer, a chip, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any changes or substitutions within the technical scope disclosed in this application shall be covered by the protection scope of this application. . Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A method for solving the needs of a hub service area, characterized in that the method is applied to a central control coordination device, and the method includes:

When the central control coordination equipment judges that there is a service area demand in the hub service area, it determines the demand solution;

The central control coordination device sends the demand solution to the vehicle coordination device configured in the autonomous vehicle and the hub coordination device configured in the hub service area, so that the autonomous vehicle and the hub are under the control of the vehicle coordination device. The entities in the hub service area under the control of the coordination device interact according to the demand solution.
The method for solving the needs of a hub service area according to claim 1, wherein the central control coordination device determines whether there is a service area demand in the hub service area, comprising:

The central control coordination equipment judges whether there is a service area demand in the hub service area according to the relevant parameters of the service area of the hub service area.
The method for solving the needs of a hub service area according to claim 1, wherein the central control coordination device determines whether there is a service area demand in the hub service area, comprising:

When the central control coordination device receives the reminder message, it determines that there is a service area demand in the hub service area; wherein the reminder message is sent by the hub coordination device when it determines that there is a service area demand in the hub service area according to the service area related parameters.
The method for solving the needs of a hub service area according to claim 2, wherein the service area related parameters include the usage of spare vehicles, and the central control coordination device judges the hub service according to the service area related parameters of the hub service area. Whether there are service area requirements in the district, including:

When the central control coordination equipment determines that there is an actual number of spare cars less than the rated number according to the usage of the spare cars, it judges that there is a service area demand in the hub service area.
The method for solving the needs of the hub service area according to claim 2, wherein the relevant parameters of the service area include the transportation plan of the warehousing goods, and the central control coordination device judges the hub service according to the service area related parameters of the hub service area. Whether there are service area requirements in the district, including:

When the central control coordination equipment determines that there is goods to be transported according to the transportation plan of the warehoused goods, it judges that there is a demand for the service area in the service area of the hub.
The method for solving the needs of a hub service area according to claim 2, wherein the service area related parameters include the occupancy of storage space, and the central control coordination device judges the hub service according to the service area related parameters of the hub service area. Whether there are service area requirements in the district, including:

When the central control coordination equipment determines that there is free storage space based on the occupancy of the storage space, it judges that there is a service area demand in the hub service area.
The method for solving the needs of a hub service area according to claim 1, wherein when the central control coordination device determines that there is a service area demand in the hub service area, determining a demand solution includes:

When the central control coordination equipment determines that there is a service area demand in the hub service area, it determines the target autopilot and task list;

Then, the central control coordination device sends the demand solution to the vehicle coordination device configured in the autonomous vehicle and the hub coordination device configured in the hub service area, so that the autonomous vehicle can communicate with each other under the control of the vehicle coordination device. The entities in the hub service area under the control of the hub coordination device interact according to the demand solution, including:

The central control coordination device sends the demand solution to the vehicle coordination device configured in the autonomous vehicle and the hub coordination device configured in the service area of the target hub, so that the autonomous vehicle is controlled by the vehicle coordination device. The entities in the hub service area under the control of the hub coordination device interact according to the task list.
The method for solving the needs of a hub service area according to claim 7, wherein when the central control coordination device determines that there is a service area demand in the hub service area, it determines the target autonomous vehicle and the task list, which includes:

When the central control coordination equipment determines that there is a service area demand in the hub service area, it determines the detailed service area demand;

The central control coordination device determines the target autonomous vehicle according to the detailed requirements of the service area and the attribute information of at least one autonomous vehicle;

The central control coordination device determines the task list according to the detailed requirements of the service area and the attribute information of the target autonomous vehicle.
The method for solving requirements of a hub service area according to claim 8, wherein the detailed requirements of the service area include tasks to be performed and vehicle resources required to perform tasks.
The method for solving the needs of a hub service area according to claim 8, wherein when the central control coordination device determines that there is a service area demand in the hub service area, determining the detailed service area needs includes:

The central control and coordination equipment determines the tasks to be performed and the vehicle resources required to perform the tasks according to the relevant parameters of the service area of the hub service area.
The method for solving the needs of the hub service area according to claim 10, wherein the relevant parameters of the service area include the usage of the spare car, and the central control coordination device determines that it needs to be executed according to the relevant parameters of the service area of the hub service area. The tasks and vehicle resources required to perform the tasks include:

When the central control coordination equipment judges that the actual number of spare vehicles with autonomous mobility is less than the rated number based on the use of the spare vehicles, it determines that the tasks that need to be performed are: supply the spare vehicles; and,

It is determined that the vehicle resources required to perform the task include autonomous vehicles that meet the following conditions: the vehicle type is the same as the vehicle type of the standby vehicle with autonomous mobility.
The method for solving the needs of the hub service area according to claim 10, wherein the relevant parameters of the service area include the usage of the spare car, and the central control coordination device determines that it needs to be executed according to the relevant parameters of the service area of the hub service area. The tasks and vehicle resources required to perform the tasks include:

When the central control coordination equipment judges that the actual number of spare vehicles without autonomous mobility is less than the rated number based on the use of the spare vehicles, it determines that the tasks that need to be performed are: supply the spare vehicles; and,

Determining the vehicle resources required to perform the task includes an autonomous vehicle that meets the following conditions: the vehicle body includes the standby vehicle that does not have the ability to move autonomously and the power equipment capable of driving the standby vehicle that does not have the ability to move autonomously.
The method of claim 10, wherein the relevant parameters of the service area include the transportation plan of the warehousing goods, and the central control and coordination equipment determines the need to execute according to the relevant parameters of the service area of the hub service area. The tasks and vehicle resources required to perform the tasks include:

When the central control coordination equipment determines that there are goods to be transported according to the transportation plan of the stored goods, the tasks that need to be performed are: loading and transporting the goods;

Determining the vehicle resources required to perform the task includes an autonomous vehicle that meets one or more of the following conditions: the type of cargo that can be loaded covers the type of cargo corresponding to the task, and the volume of the cargo that can be loaded is greater than or equal to the volume of the cargo corresponding to the task , The drivable area includes the location of the current hub service area.
The method for solving the needs of the hub service area according to claim 10, wherein the service area related parameters include the occupancy of the storage space, and the central control coordination device determines that it needs to be executed according to the service area related parameters of the hub service area. The tasks and vehicle resources required to perform the tasks include:

When the central control coordination equipment determines that there is free storage space based on the occupancy of the storage space, the tasks that need to be performed are: unload the goods to the free storage space; and,

The vehicle resources required to determine the task include autonomous vehicles that meet one or more of the following conditions: the destination of the goods being transported includes the address of the hub service area, and the type of goods being transported is covered by the free storage space that can be stored Among the types of goods, the volume of the goods being transported is less than or equal to the volume of the free storage space.
The method for solving the needs of a hub service area according to claim 8, wherein the attribute information of the autonomous vehicle includes at least one of the following:

The type of self-driving car;

The body structure of the self-driving car;

The type of cargo that can be loaded by the self-driving vehicle;

The volume of cargo that can be loaded by the autonomous vehicle;

The type of goods being transported by the autonomous vehicle;

The volume of goods being transported by the autonomous vehicle;

The destination of the goods being transported by the autonomous vehicle;

The drivable area of an autonomous vehicle.
The method for solving the needs of a hub service area according to claim 8, wherein the central control coordination device determines the target autonomous vehicle based on the detailed needs of the service area and the attribute information of at least one autonomous vehicle, comprising:

The central control coordination device determines whether the corresponding autonomous vehicle meets the conditions of the vehicle resources required to perform the task included in the detailed requirements of the service area according to the attribute information of each autonomous vehicle, and determines the eligible autonomous vehicle as a candidate for autonomous driving car;

The central control coordination device determines the target autonomous vehicle from the candidate autonomous vehicles.
The method for solving the needs of a hub service area according to claim 16, wherein the central control coordination device determines the target autonomous driving vehicle from the candidate autonomous driving vehicles, comprising:

The central control coordination device determines the target autonomous vehicle from the candidate autonomous vehicles according to predetermined standards.
The method for solving the needs of a hub service area according to claim 9, wherein the task list includes tasks that need to be performed, and at least one of the following:

The location of the task;

Time to perform the task;

Remuneration for performing tasks;

The authentication method used when performing the task.
The method for solving the needs of a hub service area according to claim 18, wherein the central control coordination device determines the task list according to the detailed needs of the service area and the attribute information of the target autonomous vehicle, which includes:

The central control coordination device determines the tasks to be performed included in the detailed requirements of the service area as the tasks to be performed in the task list.
The method for solving the needs of a hub service area according to claim 18, wherein the central control coordination device determines the task list according to the detailed needs of the service area and the attribute information of the target autonomous vehicle, which includes:

When the central control coordination equipment determines that the task that needs to be performed is to supply a spare car, it determines the location of the task to be performed as the spare car service station in the current hub service area.
The method for solving the needs of a hub service area according to claim 18, wherein the central control coordination device determines the task list according to the detailed needs of the service area and the attribute information of the target autonomous vehicle, which includes:

When the central control coordination equipment determines that the task to be performed is to load and transport goods, the location of the task is determined as the storage service station in the current hub service area.
The method for solving the needs of a hub service area according to claim 18, wherein the central control coordination device determines the task list according to the detailed needs of the service area and the attribute information of the target autonomous vehicle, which includes:

When the central control coordination equipment determines that the task to be performed is to unload the goods to the free storage space, the location of the task is determined as the storage service station in the current hub service area.
The method for solving the needs of a hub service area according to claim 18, wherein the central control coordination device determines the task list according to the detailed needs of the service area and the attribute information of the target autonomous vehicle, which includes:

The central control coordination device determines the authentication method used when performing the task according to the authentication method used by the entity interacting with the target autonomous vehicle in the current hub service area.
A method for solving the needs of a hub service area is characterized in that it is applied to a hub coordination device, the hub coordination device is configured in a hub service area, the hub service area further includes at least one entity, and the method includes:

The hub coordination device receives the demand solution sent by the central control coordination device; the demand solution is determined by the central control coordination device when it determines that there is a service area demand in the hub service area;

The hub coordination device controls the entities in the hub service area to interact with the autonomous vehicle according to the demand solution.
The method for solving the needs of a hub service area according to claim 24, wherein the demand solution includes an identification and a task list of the target autonomous vehicle;

Then, the hub coordination device controls the entities in the hub service area to interact with the autonomous vehicle according to the demand solution, including:

The hub coordination device determines the target autonomous vehicle according to the identification of the target autonomous vehicle;

The hub coordination device controls the entities in the hub service area to interact with the target autonomous vehicle according to the task list.
The method for solving the needs of a hub service area according to claim 25, wherein the task list includes tasks that need to be performed, and at least one of the following:

The location of the task;

Time to perform the task;

Remuneration for performing tasks;

The authentication method used when performing the task.
The method for solving the needs of a hub service area according to claim 26, wherein the task list includes the location where the task is performed; then, the hub coordination device controls the entities in the hub service area and the target autopilot according to the task list. Car interaction, including:

The hub coordination device controls the entities in the hub service area to interact with the target autonomous vehicle that arrives at the location for performing the task to complete the task that needs to be performed.
The method for solving the needs of a hub service area according to claim 27, wherein the task that needs to be performed is to supply a spare car, and the place where the task is performed is a spare car service station;

Then, the hub coordination device controls the entity in the hub service area to interact with the target autonomous vehicle that arrives at the location where the task is performed to complete the task that needs to be performed, including:

The hub coordination device controls the entities in the standby car service station to interact with the target autonomous vehicle that arrives in the standby car service station to complete the task of replenishing the standby car.
The method for solving the needs of a hub service area according to claim 27, wherein the task to be performed is loading and transporting goods, and the location for performing the task is a storage service station;

Then, the hub coordination device controls the entity in the hub service area to interact with the target autonomous vehicle that arrives at the location where the task is performed to complete the task that needs to be performed, including:

The hub coordination device controls the entities in the storage service station to interact with the target autonomous vehicle arriving in the storage service station to complete the task of loading and transporting goods.
The method for solving the needs of a hub service area according to claim 27, wherein the task that needs to be performed is unloading goods to a free storage space, and the location for performing the task is a storage service station;

Then, the hub coordination device controls the entity in the hub service area to interact with the target autonomous vehicle that arrives at the location where the task is performed to complete the task that needs to be performed, including:

The hub coordination device controls the entities in the storage service station to interact with the target autonomous vehicle arriving in the storage service station to complete the task of unloading the goods to the free storage space.
The method for solving the needs of a hub service area according to claim 26, wherein the task list includes remuneration for performing tasks; then, the hub coordination device controls the entities and targets in the hub service area to drive automatically according to the task list. Car interaction, including:

The hub coordination device controls the entities in the hub service area to pay the target self-driving vehicle for the execution of the task.
The method for solving the needs of a hub service area according to claim 26, wherein the task list includes an authentication method used when performing tasks; then, the hub coordination device controls entities in the hub service area according to the task list Interact with the target autonomous vehicle, including:

The hub coordination device controls the entity in the hub service area to authenticate with the target autonomous vehicle in accordance with the authentication method, and after the authentication is successful, it controls the entity in the hub service area to interact with the target autonomous vehicle to complete the required execution task.
The hub service area demand solution method according to claim 24, wherein the hub coordination device controls the interaction between entities in the hub service area and the autonomous vehicle according to the demand solution, comprising:

The hub coordination device records a log of the process of interaction between entities in the hub service area and the autonomous vehicle.
A method for solving the needs of a hub service area, characterized in that the method is applied to a vehicle coordination device, the vehicle coordination device is configured in an autonomous vehicle, and the method includes:

The vehicle coordination device receives the demand solution sent by the central control coordination device; the demand solution is determined by the central control coordination device when it determines that there is a service area demand in the hub service area;

The vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the hub service area according to the demand solution.
The method for solving the needs of a hub service area according to claim 34, wherein the demand solution includes the identification of the target autonomous vehicle, the identification of the hub service area, and a task list;

Then, the vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the hub service area according to the demand solution, including:

When the vehicle coordination device determines that its corresponding autonomous vehicle is the target autonomous vehicle according to the identifier of the target autonomous vehicle, it determines the hub service area with service area demand according to the identifier of the hub service area, and according to the task list The target autonomous vehicle is controlled to interact with entities in the hub service area where the service area demand exists.
The method for solving the needs of a hub service area according to claim 35, wherein the task list includes tasks that need to be performed, and at least one of the following:

The location of the task;

Time to perform the task;

Remuneration for performing tasks;

The authentication method used when performing the task.
The method for solving the needs of a hub service area according to claim 36, wherein the task list includes the location where the task is performed; then, the vehicle coordination device controls the target autonomous vehicle and the existing service area demand according to the task list. The entity interactions in the hub service area include:

The vehicle coordination device controls the target autonomous vehicle to arrive at the location where the task is to be performed, and interacts with entities in the hub service area where there is a service area demand to complete the task to be performed.
The method for solving the needs of the hub service area according to claim 37, wherein the task that needs to be performed is to supply a spare car, and the location of the task is to be a spare car service station; then, the vehicle coordination device controls the target automatic driving When the vehicle arrives at the place where the task is to be performed, it interacts with entities in the service area of the hub where there is a demand for the service area to complete the task to be performed, including:

The vehicle coordination device controls the target autonomous vehicle to arrive at the reserve car service station of the hub service area where the service area demand exists, and interacts with entities in the reserve car service station to complete the task of supplying the reserve car.
The method for solving the needs of the hub service area according to claim 37, wherein the task to be performed is loading and transporting goods, and the location for performing the task is a storage service station; then, the vehicle coordination equipment controls the target automatic driving When the vehicle arrives at the place where the task is to be performed, it interacts with entities in the service area of the hub where there is a demand for the service area to complete the task to be performed, including:

The vehicle coordination device controls the target autonomous vehicle to arrive at the warehouse truck service station in the hub service area where there is a service area demand, and interacts with entities in the warehouse truck service station to complete the task of loading and transporting goods.
The method for solving the needs of a hub service area according to claim 37, wherein the task that needs to be performed is unloading goods to an empty storage space, and the location of the task is the storage service station; then, the vehicle coordination equipment control The target autonomous vehicle arrives at the place where the task is performed, and interacts with the entity in the hub service area where the service area needs to complete the task to be performed, including:

The vehicle coordination device controls the target autonomous vehicle to arrive at the warehouse truck service station in the hub service area where the service area demand exists, and interacts with entities in the warehouse truck service station to complete the task of unloading the goods to the free storage space.
The method for solving the needs of a hub service area according to claim 36, wherein the task list includes remuneration for performing tasks; then, the vehicle coordination device controls the target autonomous vehicle and the existing service area demand according to the task list. The entity interactions in the hub service area include:

The vehicle coordination device controls the target autonomous vehicle to receive the remuneration for the task performed by the entity in the hub service area that has the service area demand.
The method for solving the needs of a hub service area according to claim 36, wherein the task list includes an authentication method used when performing tasks; then, the vehicle coordination device controls the target autonomous vehicle and the said task list according to the task list. The entity interactions in the hub service area that have service area requirements include:

The vehicle coordination device controls the target autonomous vehicle and the entity in the hub service area where the service area needs to be authenticated according to the authentication method, and controls the target autonomous vehicle and the existing service area needs after the authentication is successful The entities in the hub service area interact to complete the tasks that need to be performed.
The method for solving the needs of the hub service area according to claim 33, wherein the vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the hub service area according to the demand solution, comprising:

The vehicle coordination device records the log of the process of interaction between the autonomous vehicle and the entities in the hub service area.
A central control coordination device, characterized in that, the vehicle coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor executes the computer program when the computer program is running. The method of any one of claims 1-23.
A central control system, characterized in that the central control system includes central control coordination equipment;

The central control coordination device is used to determine a demand solution when it is judged that there is a service area demand in the hub service area, and send the demand solution to the vehicle coordination device configured in the autonomous vehicle and to be configured in the hub service area. The hub coordination device for the autonomous vehicle, under the control of the vehicle coordination device, interacts with entities in the hub service area under the control of the hub coordination device in accordance with the demand solution.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 1 to 23 when the computer program is run by a processor.
A hub coordination device, characterized in that, the hub coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor executes rights when the computer program is running. The method of any one of 24 to 33 is required.
A hub service area, characterized in that the hub service area includes a hub coordination device and at least one entity;

The hub coordination device is used to receive the demand solution sent by the central control coordination device, and control entities in the hub service area to interact with the autonomous vehicle according to the demand solution. The demand solution is that the central control coordination device is determining The hub service area is determined when there is a service area demand.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 24 to 33 when the computer program is run by a processor.
A vehicle coordination device, characterized in that, the vehicle coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor executes rights when the computer program is running. The method described in any one of 34 to 43 is required.
An automatic driving vehicle, characterized in that, the automatic driving vehicle includes vehicle coordination equipment;

The vehicle coordination device is used to receive the demand solution sent by the central control coordination device, and according to the demand solution to control the interaction between the autonomous driving vehicle and the entities in the hub service area; the demand solution is that the central control coordination device is determining The hub service area is determined when there is a service area demand.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 34 to 43 when the computer program is run by a processor.
A hub service area demand resolution system, which is characterized in that the hub service area demand resolution system includes: a central control coordination device configured in a central control system, a vehicle coordination device configured in an autonomous vehicle, and a hub service Hub coordination equipment in the district;

The central control coordination device is used to determine a demand solution when it is judged that there is a service area demand in the hub service area, and to send the demand solution to the vehicle coordination device and the hub coordination device, so that the autonomous vehicle Under the control of the vehicle coordination device, interact with entities in the hub service area under the control of the hub coordination device according to the demand solution.
A vehicle service system, characterized in that the vehicle service system includes: a central control system, an autonomous vehicle, and a hub service area; the central control system includes a central control coordination device; the autonomous vehicle includes a vehicle coordination device; The hub service area includes hub coordination equipment and entities;

The central control coordination device is used to determine a demand solution when it is judged that there is a service area demand in the hub service area, and to send the demand solution to the vehicle coordination device and the hub coordination device respectively;

The vehicle coordination device is used to control the autonomous vehicle to interact with entities in the hub service area according to the demand solution;

The hub coordination device controls the entities in the hub service area to interact with the autonomous vehicle according to the demand solution.