TWI763401B - Central control vehicle hiring system for license-free self-driving electric vehicles with four or more wheels - Google Patents

Abstract

Disclosed is a central control vehicle hiring system for license-free self-driving electric vehicles with four or more wheels, comprising: a user-call sending device, a call receiving device, a running electric vehicle travel route storing device, a running electric vehicle controlling-and-determining device, and a plurality of running electric vehicles. The plurality of running electric vehicles is controlled in a centrally controlled manner to perform a self-driving vehicle transportation in a closed running area, and the user can hire the running electric vehicles to use the automatic transporting service.

Description

Central control vehicle calling system for license-free autonomous electric vehicles with four or more wheels

The present invention relates to a centrally controlled dispatching vehicle system, in particular to a centrally controlled vehicle calling system for a license-free automatic driving electric vehicle with more than four wheels.

In order to provide passengers with a safer and more convenient ride experience, and also for the consideration of labor costs, with the advancement of technology, there are autonomous vehicles, also known as unmanned vehicles and computer-driven vehicles. Or the results of environmental sensing to carry out the unmanned operation of the vehicle to automatically drive. Self-driving vehicles need to focus on satellite signals and environmental sensing technologies. In addition, research on vehicle decision-making, command transmission, and institutional actions also needs to be continuously invested in order to achieve outstanding progress in self-driving vehicle technology.

The self-driving electric vehicle not only has the advantages of using an electric motor instead of an internal combustion engine to propel it without emitting exhaust gas or polluting the air around the road, but also has the function of automatic driving. The “license-free electric vehicle with more than four wheels” referred to in the present invention refers to an electric vehicle with more than four wheels that can legally go on the road without a license plate, such as a golf cart. Small footprint, slower and safer.

At present, the application of this kind of license-free electric vehicles with more than four wheels in unmanned driving is limited to the established route with sensors embedded in it, and the sensing components at the bottom of the license-free electric vehicles with more than four wheels are sensed, so that the electric vehicle can follow the route. The sensor travels or travels back and forth on a predetermined route. The driving path of this type of electric vehicle is single, and the electric vehicle runs uninterruptedly at a fixed time or during operation hours, and there is no mechanism for the user to call the electric vehicle. When there are many users, how to reduce the waiting time of users under the configuration of limited vehicles becomes a problem. In addition, it is also a problem to provide users with various requirements that users can choose a starting point and a destination point, or to inform users where they can take a ride nearby. .

Therefore, the purpose of the present invention is to provide a centrally controlled vehicle calling system for a license-free automatic driving electric vehicle with more than four wheels, so that users can automatically drive in a closed operating area and perform automatic delivery services for most four-wheel vehicles according to their needs. The above license-free electric vehicles are called.

The technical means adopted by the present invention to solve the problems of the prior art is to provide a central control vehicle calling system for a license-free automatic driving electric vehicle with more than four wheels. The central control vehicle calling system is a license-free automatic driving electric vehicle with more than four wheels As a running electric vehicle, a plurality of running electric vehicles are controlled by a central control mode in a closed operation area to carry out an unmanned vehicle carrying travel. The central control vehicle calling system includes: a user calling a vehicle sending device, The user operates to send a user calling vehicle signal, the user calling vehicle signal includes a user authentication information; a calling receiving device, the signal is connected to the user calling vehicle sending device to receive the transmission from the user calling vehicle The user of the device calls the vehicle signal; a running electric vehicle travel route storage device, the signal is connected to a running electric vehicle control determination device, the running electric vehicle travel route storage device stores a runable route in the closed operation area Information; a plurality of the running electric vehicles, each of the running electric vehicles has a controlled receiving unit, a surrounding condition detection unit, and a driving unit, and the surrounding condition detection unit detects the conditions around the running electric vehicle and obtains a surrounding condition detection result signal and immediately transmits the surrounding condition detection result signal to the driving unit to execute the unmanned driving of the electric vehicle by the driving unit. The surrounding condition detection unit includes a lidar and a camera; and the running electric vehicle control and determining device, the signal is connected to the calling receiving device and the plurality of running electric vehicles, and according to the user's calling vehicle signal, a target running electric vehicle among the plurality of running electric vehicles is obtained. The target running electric vehicle is to carry out the unmanned vehicle carrying travel, and the running electric vehicle control and determining device transmits a running electric vehicle driving control signal to the target running according to the operable route information in a central control manner The controlled receiving unit of the electric vehicle, wherein the controlled receiving unit transmits a running electric vehicle controlled signal to the running unit of the target running electric vehicle according to the running control signal of the running electric vehicle so that the running unit can execute the target Running the electric vehicle executes the unmanned vehicle carrying travel.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, the user calling vehicle sending device is a user mobile phone or an installation device, and the user calling vehicle signal further includes a user destination location information and/or user call location information.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, and the installation device is installed at the reachable position of the running route corresponding to the running route information.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided. The operating electric vehicle control determining device determines, according to the user calling vehicle signal, a target operating electric vehicle among a plurality of operating electric vehicles in which the operating electric vehicle can be operated. A target running route in the route information, and according to the target running route, a running control signal of the running electric vehicle is obtained, and the running control signal of the running electric vehicle is transmitted to the target running electric vehicle to execute the unmanned vehicle carrying running .

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, and the running route corresponding to the running route information has a stop.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, further comprising a status display device, and the status display device displays the parking station closest to the user.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, further comprising a current status display device, and the current status display device displays the current location of the running electric vehicle.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, further comprising a current status display device, and the current status display device displays an available route corresponding to the available route information.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, wherein the user calling vehicle signal includes an appointment time and/or the number of people to reserve.

In an embodiment of the present invention, a centrally controlled vehicle calling system is provided, further comprising a payment and debit device, the payment and deduction device is adjusted according to the user's distance and/or the number of times and/or the number of users. Payments and/or deductions are made to derive a usage fee.

Through the technical means adopted by the central control vehicle calling system of the present invention, the user can send the user calling vehicle signal through the user calling vehicle sending device, so that the operation electric vehicle control determining device of the central control vehicle calling system can provide the user Many, with limited vehicle configuration, reduce user waiting, provide users with optional starting and ending points, and notify users where to take the nearest ride, and control the target operation of electric vehicles in a central control manner to execute unmanned vehicles Transport travel.

Embodiments of the present invention will be described below with reference to FIGS. 1 to 4 . This description is not intended to limit the embodiments of the present invention, but is an example of the present invention.

As shown in FIG. 1 to FIG. 2 , according to an embodiment of the present invention, a centrally controlled vehicle calling system 100 for a four-wheel or more license-free automatic driving electric vehicle, the centrally-controlled vehicle calling system 100 is a four-wheel or more license-free vehicle The self-driving electric vehicle serves as the operating electric vehicle 5 and controls a plurality of the operating electric vehicles 5 in a closed operation area C in a centrally controlled manner to carry out an unmanned vehicle carrying travel.

The central control vehicle calling system 100 includes: a user calling vehicle sending device 1 , a calling receiving device 2 , a running electric vehicle travel route storage device 3 , a running electric vehicle control determining device 4 , and a plurality of the running electric vehicles 5 .

As shown in FIG. 1, according to the central control vehicle calling system 100 of the four-wheel or more license-free automatic driving electric vehicle according to the embodiment of the present invention, the user calling vehicle sending device 1 is a user mobile phone or an installation device . In other embodiments, the user calling the vehicle sending device 1 may also be an installation device.

The user-calling-vehicle sending device 1 is operated by the user to send a user-calling-vehicle signal I1. The user calling vehicle signal I1 includes a user authentication information, so that the system can identify the user who sent the user calling vehicle signal. In addition, the user authentication information can be used to further provide customized services to the user. user. In addition to the user authentication information, the user calling vehicle signal I1 may further include a user destination location information and/or user calling location information.

Besides, the user calling vehicle signal I1 may also include an appointment time and/or the number of people to reserve.

As shown in FIG. 1, according to the central control vehicle calling system 100 of the four-wheel or more license-free automatic driving electric vehicle according to the embodiment of the present invention, the signal of the calling receiving device 2 is connected to the user calling vehicle sending device 1, so as to receive the signal from the calling vehicle 1. The user calls the vehicle signal I1 of the user of the vehicle transmitting device 1 .

As shown in FIG. 1 , according to the central control vehicle calling system 100 of the four-wheel or more license-free automatic driving electric vehicle according to the embodiment of the present invention, the signal of the running electric vehicle driving route storage device 3 is connected to the running electric vehicle control determining device 4 . The running route storage device 3 of the electric vehicle stores a runnable route information I2 in the closed running area C. Specifically, the operational route information I1 refers to each operational route located in the closed operation area C (for example, a MRT station, a bus station, etc., a parking lot in a specific place, between communities, or within a community). relevant geographic information.

According to the central control vehicle calling system 100 of the license-free automatic driving electric vehicle with more than four wheels according to the embodiment of the present invention, the running route corresponding to the operable route information has a stop for many users to get on and off the bus at the stop. . In the embodiment without a stop, the electric vehicle 5 is driven to the user's calling location in the user-calling location information for the user to get on the vehicle.

In the embodiment in which the user calls the vehicle sending device 1 as the installation device, the installation device is installed at an accessible position of the running path. Preferably, the installation device is installed at each docking station.

As shown in FIG. 2, according to the central control vehicle calling system 100 of the four-wheel or more license-free automatic driving electric vehicle according to an embodiment of the present invention, each running electric vehicle 5 has a controlled receiving unit 51, a surrounding condition A detection unit 52 , and a driving unit 53 .

The surrounding condition detection unit 52 detects the surrounding conditions of the running electric vehicle to obtain a surrounding condition detection result signal I3 and immediately transmits the surrounding condition detection result signal I3 to the driving unit 53 so that the driving unit 53 can send the surrounding condition detection result signal I3 to the driving unit 53 The unmanned driving of the electric vehicle is performed, so that the driving unit 53 can respond by avoiding, stopping, etc. according to the environment.

As shown in FIG. 2 , the surrounding condition detection unit 52 includes a light 521 and a camera 522 . Specifically, the ambient condition detection unit 52 detects the real-time condition of the surroundings of the running electric vehicle 5 by the light 521 and the camera 522 . LiDAR 521 (light detection and ranging; LiDAR) is an optical remote sensing technology whose principle is to measure the distance to the target by irradiating the target with pulsed laser light and measuring the reflected pulse with a sensor. In this embodiment, the light 521 can be a 2D Mechanical Scanning Lidar, and through the mechanical rotation of the laser/receiving component or the use of a rotating mirror to guide the light beam, the 360° light beam can be guided by a rotating mirror. Point cloud data are collected from a wide range of areas. Of course, the present invention is not limited to this, and the lidar 521 can also be a 2D Solid State Lidar, which has a planar sensing element without a rotating element, so it is small in size and light in weight. The camera 522 is used to obtain photographic data through photography. The surrounding situation detection unit 52 detects the surrounding real-time state of the running electric vehicle 5 by using the point cloud data and the photographic data to obtain the surrounding situation detection result signal I3. The driving unit 53 can be integrated into the original vehicle control computer of the running electric vehicle 5 , or can be connected to the original vehicle control computer of the running electric vehicle 5 in an additional way, or the running unit 53 can replace the running electric vehicle 5 The original vehicle control computer.

As shown in FIG. 1 and FIG. 2 , according to the central control vehicle calling system 100 of the four-wheel or more license-free automatic driving electric vehicle according to the embodiment of the present invention, the signal of the operating electric vehicle control determining device 4 is connected to the calling receiving device 2 and the plurality of running electric vehicles 5 , and according to the user calling vehicle signal I1 to obtain a target running electric vehicle 5 ′ among the plurality of running electric vehicles 5 . The target running electric vehicle 5 ′ is to execute the unmanned vehicle carrying travel, and the running electric vehicle control and determining device 4 transmits a running electric vehicle travel control signal I4 to the central control mode according to the operable route information I2 The target runs the controlled receiving unit 51 of the electric vehicle 5'. The controlled receiving unit 51 is preferably a wireless signal transceiving device.

The controlled receiving unit 51 transmits a running electric vehicle controlled signal I5 to the running unit 53 of the target running electric vehicle 5 ′ according to the running electric vehicle running control signal I4 , so that the running unit 53 executes the target running electric vehicle 5' of unmanned vehicles to carry and travel.

As shown in FIG. 1 , according to the central control vehicle calling system 100 of the four-wheel or more license-free automatic driving electric vehicle according to an embodiment of the present invention, the operating electric vehicle control determining device 4 determines according to the user calling vehicle signal I1 A target operation path P in the operable path information I2 of a target operation electric vehicle 5' among the plurality of operation electric vehicles 5 is obtained, and an operation electric vehicle driving control signal I4 is obtained according to the target operation path P, And transmit the running electric vehicle driving control signal I4 to the target running electric vehicle 5' to execute the unmanned vehicle carrying travel. The operating electric vehicle control and determining device 4 can determine whether each of the plurality of operating electric vehicles 5 is enough to accommodate the user according to the number of reservations of the user's calling vehicle signal I1, and specify the suitable operating electric vehicle 5 (eg, two-seater). vehicle, a four-seater vehicle, a six-seater vehicle, and a multi-passenger bus) as a target to operate the electric vehicle 5' and take charge of the transportation of the user. The executable path information I2 corresponds to a plurality of operating paths. The target operation path P is selected from a plurality of operation paths. The number of people reserved in the user calling vehicle signal I1 exceeds the number of people that can be mounted on each operating electric vehicle 5, and the target operating electric vehicle 5' determined by the operating electric vehicle control determining device 4 is plural.

Specifically, the operating electric vehicle control determining device 4 is independent of the devices other than the plurality of operating electric vehicles 5 , and is responsible for executing the dispatching of the plurality of operating electric vehicles 5 in a centrally controlled manner.

Thereby, the operation electric vehicle control determining device 4 of the centrally controlled vehicle calling system 100 of the present invention can provide users with a limited number of vehicles, reduce waiting for users, and provide users with a choice of starting and ending points. And inform the user where to take the nearby, and control the target running electric vehicle 5' in a central control manner to execute the unmanned vehicle carrying travel.

As shown in FIG. 3 , the white circles indicate the vacant positions of the electric vehicle 5 for operation, and the black circles indicate the occupied positions of the electric vehicles 5 for operation. According to an embodiment of the present invention, the central control vehicle calling system 100a of the four-wheel or more license-free automatic driving electric vehicle, the operation electric vehicle control decision device 4 is based on the number of reservations of the user calling the vehicle signal I1 and the operation time of the electric vehicle 5. The number of vacancies, and the designated number of vacancies is not less than the reserved number of electric vehicles 5 as the target operation electric vehicle 5' and is responsible for the transportation of users.

As shown in FIG. 3 , according to an embodiment of the present invention, the centrally controlled vehicle calling system 100 a of the four-wheel or more license-free automatic driving electric vehicle further includes a current status display device 6 . The status display device 6 can be a screen of a user's mobile phone, a display panel disposed on the running electric vehicle 5 , or a display panel of an installation device. The current status display device 6 displays the closest stop to the user and/or displays the current location of the running electric vehicle and/or displays an available route corresponding to the operational route information.

As shown in FIG. 4 , according to an embodiment of the present invention, the central control vehicle calling system 100b of the four-wheel or more license-free automatic driving electric vehicle operates the electric vehicle control decision device 4 according to traffic conditions such as traffic congestion, road closure ( The two are indicated by black clouds), and the length of time required for a plurality of the running electric vehicles 5 to reach the user under the current traffic conditions is obtained, and the appropriate running electric vehicle 5 is designated as the target running electric vehicle 5' and is responsible for the user. 's delivery.

In addition, the central control vehicle calling system 100b further has a payment and deduction device 7 . The payment and deduction device 7 obtains a usage fee according to the user's usage distance and/or usage times and/or the number of users and performs payment and/or deduction.

The above descriptions and descriptions are only descriptions of preferred embodiments of the present invention. Those with ordinary knowledge in the art can make other modifications according to the scope of the patent application defined below and the above descriptions, but these modifications should still be It is within the scope of the right of the present invention for the inventive spirit of the present invention.

100: Central control vehicle calling system 100a: Centrally controlled vehicle call system 100b: Centrally controlled vehicle call system 1: The user calls the vehicle sending device 2: Call the receiving device 3: Run the electric vehicle driving route storage device 4: Run the electric vehicle control decision device 5: Running the electric car 5': Goal to run the electric car 51: Controlled receiving unit 52: Surrounding situation detection unit 521: LiDAR 522: Camera 53: Travel unit 6: Current status display device 7: Payment and deduction device C: Enclosed operating area I1: The user calls the vehicle signal I2: Runnable Path Information I3: Surrounding condition detection result signal I4: Running electric vehicle driving control signal I5: Running electric vehicle controlled signal P: target running path

[Fig. 1] is a block diagram showing a centrally controlled vehicle calling system according to an embodiment of the present invention; [Fig. 2] is a block diagram showing a centrally controlled vehicle calling system according to an embodiment of the present invention; [Fig. 3] is a block diagram showing a centrally controlled vehicle calling system according to another embodiment of the present invention; [Fig. 4] is a block diagram showing a centrally controlled vehicle calling system according to another embodiment of the present invention.

100: Central control vehicle calling system

1: The user calls the vehicle sending device

2: Call the receiving device

3: Run the electric vehicle driving route storage device

4: Run the electric vehicle control decision device

5: Running the electric car

5': Goal to run the electric car

C: Enclosed operating area

I1: The user calls the vehicle signal

I2: Runnable Path Information

P: target running path

Claims (10)

A central control vehicle calling system for license-free automatic driving electric vehicles with more than four wheels, the central control vehicle calling system uses four-wheel or more license-free automatic driving electric vehicles as running electric vehicles, and controls a plurality of running electric vehicles in a central control manner. The vehicle is in a closed operation area for carrying an unmanned vehicle. The central control vehicle calling system includes: a user calling vehicle sending device, which is operated by the user to send a user calling vehicle signal, the user calling The vehicle signal includes a user authentication information; a calling receiving device, the signal is connected to the user calling vehicle sending device to receive the user calling vehicle signal from the user calling vehicle sending device; a running electric vehicle driving route storage device, the signal is connected to a running electric vehicle control and determination device, the running electric vehicle travel route storage device stores a runable route information in the closed operation area; a plurality of the running electric vehicles, each of the running electric vehicles has A controlled receiving unit, a circumstance detection unit, and a driving unit, the circumstance detection unit detects the circumstance of the running electric vehicle to obtain a circumstance detection result signal and transmits the circumstance in real time The detection result signal is sent to the driving unit to execute the unmanned driving of the electric vehicle by the driving unit. The surrounding condition detection unit includes a light and a camera; and the operation electric vehicle control and determination device, and the signal is connected to the electric vehicle. Call the receiving device and the plurality of the running electric vehicles, and obtain a target running electric vehicle among the plurality of running electric vehicles according to the user's calling vehicle signal, and the target running electric vehicle is for carrying out the unmanned vehicle. running, and the running electric vehicle control and determining device transmits a running electric vehicle running control signal to the controlled receiving unit of the target running electric vehicle in a centrally controlled manner according to the operable path information, Wherein the controlled receiving unit transmits a running electric vehicle controlled signal to the running unit of the target running electric vehicle according to the running electric vehicle running control signal, so that the running unit executes the target running electric vehicle to execute the unmanned vehicle onboard send drive. The centrally controlled vehicle calling system of claim 1, wherein the user calling vehicle sending device is a user mobile phone or an installation device, and the user calling vehicle signal further includes a user destination location information and/or The user calls the location information. The central control vehicle calling system according to claim 2, wherein the installation device is installed at an accessible position of the running route corresponding to the running route information. The central control vehicle calling system of claim 1, wherein the operating electric vehicle control determining device determines a target operating electric vehicle in the operable path information according to the user calling vehicle signal. A target running path is obtained, and a running control signal of the running electric vehicle is obtained according to the target running route, and the running control signal of the running electric vehicle is transmitted to the target running electric vehicle to execute the unmanned vehicle carrying running. The central control vehicle calling system according to claim 1, wherein the running route corresponding to the running route information has a stop. The centrally controlled vehicle calling system of claim 1 further has a current status display device, and the current status display device displays the parking station closest to the user. The central control vehicle calling system of claim 1 further has a current status display device, and the current status display device displays the current location of the running electric vehicle. The central control vehicle calling system of claim 1 further has a current status display device, and the current status display device displays an available route corresponding to the available route information. The centrally controlled vehicle calling system of claim 1, wherein the user calling vehicle signal includes a reservation time and/or the number of reservations. If the centrally controlled vehicle calling system of claim 1, further has a payment and debit device, the payment and deduction device obtains a usage fee according to the user's usage distance and/or the number of usage and/or the number of users. Make payments and/or debits.

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