WO2023046014A1

WO2023046014A1 - Autonomous driving system capable of swapping application assemblies, corresponding swapping method and apparatus

Info

Publication number: WO2023046014A1
Application number: PCT/CN2022/120550
Authority: WO
Inventors: Eric Lemaire; Junhong Li; Guangrong Fang
Original assignee: Valeo Powertrain (Nanjing) Co., Ltd.
Priority date: 2021-09-23
Filing date: 2022-09-22
Publication date: 2023-03-30
Also published as: EP4405875A1; CN115903762A

Abstract

The present disclosure relates to an autonomous driving system capable of swapping application assemblies, as well as to a method and to an apparatus for swapping application assemblies in a corresponding autonomous driving system. The autonomous driving system comprises an autonomous vehicle and at least one application assembly, the autonomous vehicle or the at least one application assembly comprises an autonomous driving controller so that the autonomous vehicle can operate in an autonomous driving control mode, and the at least one application assembly is swappably loaded on the autonomous vehicle, and when the at least one application assembly is loaded on the autonomous vehicle, the autonomous vehicle provides electric power to the loaded at least one application assembly so that the loaded at least one application assembly can operate.

Description

AUTONOMOUS DRIVING SYSTEM CAPABLE OF SWAPPING APPLICATION ASSEMBLIES, CORRESPONDING SWAPPING METHOD AND APPARATUS

FIELD OF THE INVENTION

Embodiments of the present disclosure generally relate to an autonomous driving system capable of swapping application assemblies, as well as to a method and to an apparatus for swapping application assemblies in the autonomous driving system.

BACKGROUND OF THE INVENTION

With the development of the modes of e-commerce B2C and C2C, application systems, such as logistics distribution systems and vending systems serving major e-commerce platforms, workplaces and communities, have received more and more attention and need to be optimized more intelligently. In order to address this need, vehicles that are based on autonomous driving technology and may be integrated with an application assembly offering greater convenience in work and life have been developed, and an autonomous driving system capable of swapping application assemblies, as well as a method and an apparatus for swapping application assemblies in the autonomous driving system are hereby provided.

SUMMARY OF THE INVENTION

In one aspect, the present disclosure provides an autonomous driving system capable of swapping application assemblies. The autonomous driving system comprises an autonomous vehicle and at least one application assembly, the autonomous vehicle or the at least one application assembly comprises an autonomous driving controller so that the autonomous vehicle can operate in an autonomous driving control mode, and the at least one application assembly is swappably loaded on the autonomous vehicle, and when the at least one application assembly is equipped with the autonomous vehicle, the autonomous vehicle provides electric power to the equipped at least one application assembly so that the equipped at least one application assembly can operate.

In some embodiments, the autonomous driving system further comprises a locking mechanism. The locking mechanism is arranged on the autonomous vehicle or on the at least one application assembly or on both respectively, to enable locking between the autonomous vehicle and the at least one application assembly.

In some embodiments, the autonomous driving system further comprises an unlocking mechanism. The unlocking mechanism is arranged on the autonomous vehicle or on the at least one application assembly to unlock the autonomous vehicle and the at least one application assembly that are locked.

In some embodiments, the at least one application assembly comprises a logistics device, a vending device, or a sterilizing device.

In some embodiments, the autonomous driving system further comprises a remote receiver configured to be selectively connectible to the autonomous vehicle for establishing a wireless communication connection to a remote controller through a wireless communication network, thus allowing interaction therebetween regarding remote control signals, so that the remote controller performs remote control on at least the power train system and safety system of the autonomous vehicle.

In some embodiments, the autonomous driving system further comprises a vehicle-mounted controller configured to be located on the autonomous vehicle for interacting with the remote receiver at least regarding authentication signals and remote control signals through a remote control area network, thereby checking whether the remote receiver uniquely corresponds to the connected autonomous vehicle and processing remote control signals from the remote controller.

In some embodiments, the autonomous driving controller is configured to interact with the vehicle-mounted controller regarding autonomous driving control signals through an autonomous driving control area network, thereby allowing the autonomous driving controller to perform autonomous driving control on at least the power train system of the autonomous vehicle.

In some embodiments, the vehicle-mounted controller is further configured to give precedence to remote control signals over autonomous driving control signals, thereby allowing the remote control device to take precedence over the control performed by the autonomous driving control device on at least the power train system of the autonomous driving system.

In some embodiments, the autonomous driving controller is further configured to directly interact with a safety system of the autonomous vehicle regarding autonomous driving control signals through an autonomous driving control area network, thereby enabling the autonomous driving controller to directly perform autonomous driving control on the safety system.

In another aspect, the present disclosure provides a method for swapping application assemblies in an autonomous driving system. The autonomous driving system is as described above. The method comprises: placing an autonomous vehicle in a designated area to be loaded with at least one required application assembly; loading at least one required application assembly on the autonomous vehicle in the designated area; when at least one application assembly is loaded on the autonomous vehicle, the autonomous vehicle provides electric power to the loaded at least one application assembly so that the loaded at least one application assembly can operate.

In some embodiments, the method further comprises placing the autonomous vehicle of the loaded at least one application assembly within the designated area; in the designated area, unloading the loaded at least one application assembly from the autonomous vehicle, and loading the required at least one application assembly on the autonomous vehicle.

In some embodiments, when the required at least one application assembly is loaded on the autonomous vehicle, a locking mechanism arranged on the application assembly or on the autonomous vehicle or on both may enable locking between the autonomous vehicle and the loaded at least one application assembly.

In some embodiments, when the loaded at least one application assembly is unloaded from the autonomous vehicle, an unlocking mechanism arranged on the application assembly or on the autonomous vehicle may enable unlocking between the autonomous vehicle and the at least one application assembly that are locked.

In some embodiments, the at least one application assembly comprises a logistics device, a vending device, or a sterilizing device, and the method comprises optionally swapping at least one of the logistics device, the vending device, or the sterilizing device.

In yet another exemplary aspect, the present disclosure provides a device for swapping application assemblies in an autonomous driving system. The autonomous driving system is as described above. The device comprises a conveyor configured to store and fetch the at least one application assembly, and to load or unload the at least one application assembly on or from the autonomous vehicle in a designated area.

In some embodiments, the conveyor comprises a conveyor belt configured with a specific conveyor track to convey at least one application assembly stored on the conveyor track to the designated area to be loaded on the autonomous vehicle, or to convey at least one application assembly obtained in a designated area and unloaded from the autonomous vehicle.

In some embodiments, the conveyor comprises a plurality of holders configured to be disposed on the conveyor track, along the conveyor track, or in a state of holding the application assembly or in an idle state, and for placing, in the designated area, the held application assembly on the autonomous vehicle, or holding, in the designated area, the application assembly unloaded from the autonomous vehicle.

With reference to the following descriptions, these and other features, aspects, and advantages of the present application will be better understood. The accompanying drawings incorporated into this specification and constituting a part thereof illustrate the embodiments of the present application and are used to describe the principle of the present application along with the description.

BRIEF DESCRIPTION OF THE DRAWINGS

This specification describes completely and heuristically disclosed content, including preferred embodiments, of the present application for those skilled in the art, and reference is made to the accompanying drawings in this specification. In the accompanying drawings:

Fig. 1 is a schematic diagram of a state in which an autonomous vehicle and a switchable application assembly of an autonomous driving system capable of swapping application assemblies according to an exemplary embodiment of the present application are integrated;

Fig. 2 is a schematic diagram of a state in which an autonomous vehicle and a swappably application assembly of an autonomous driving system according to an exemplary embodiment of the present application are to be integrated;

Fig. 3 is a schematic diagram of an optional application assembly according to an exemplary embodiment of the present application;

Fig. 4 is a schematic diagram of another optional application assembly according to an exemplary embodiment of the present application;

Fig. 5 is a schematic diagram of assemblage of an application assembly on an autonomous vehicle according to an exemplary embodiment of the present application;

Fig. 6 is a schematic diagram of disassembly of an application assembly on an autonomous vehicle according to an exemplary embodiment of the present application;

Fig. 7 is a diagram of remote control and autonomous driving control by an autonomous driving system according to an exemplary embodiment of the present application.

DETAILED DESCRIPTION OF THE INVENTION

Specific embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. In the following detailed description of these specific embodiments, some well-known functions or structures are not described in detail in this specification to avoid unnecessary details which may affect the present disclosure. Each embodiment is provided for explaining the present application, but not for limiting the present disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made in the present disclosure without departing from the scope or spirit of the present application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Therefore, it is intended that the present disclosure covers such modifications and variations that come within the scope of the appended claims and their equivalents.

As used herein, the terms "first" , "second" , and similar terms are used interchangeably to distinguish one element from another, rather than being intended to denote positions or importance of each element. As used in this specification, the terms "a" , "an" and "the" and "said" are intended to indicate the presence of one or more elements, unless otherwise clearly stated in the context. The terms "include" , "comprise" , and "have" are intended to be inclusive and mean that there may be other elements in addition to the element listed. Terms like "connected" and "linked" , rather than being limited to physical or mechanical connections, may include electrical connections, irrespective of whether they are direct or indirect, wired or wireless communication connections.

Moreover, as used in this specification, the term "wireless communication" refers to long-range transmission communication between a plurality of nodes without using a conductor or a cable, which is opposite to wired communication, and can be performed by means of radio, etc. The wireless communication may include various stationary, mobile, and portable applications. The term "controller area network" , "CAN" for short, refers to a serial communication network for a vehicle that can effectively support a distributed control system. The term "remote receiving device" refers to a device capable of acting as a signal receiver and a signal sender in different signal interactions.

Referring to the drawings, Fig. 1 shows an autonomous driving system capable of swapping application assemblies according to an exemplary embodiment of the present application.

As shown in Fig. 1, the autonomous driving system 100 comprises an autonomous vehicle 110 and at least one application assembly swappably integrated therewith. The autonomous driving system 100 can operate in a remote control mode and an autonomous driving mode, and at least one application assembly may be swappably loaded/unloaded onto/from the autonomous vehicle 110 according to requirements. In the illustrated embodiment, an application assembly is integrated on the autonomous vehicle 110, the application assembly being specifically a logistics device 120, for example, a courier locker, and, referring to Fig. 2, the logistics device 120 may comprise a logistics locker 123 for the storage and retrieval of articles.

Still referring to Fig. 2, the autonomous vehicle 110 comprises a vehicle body 114 for carrying at least one application assembly, and a plurality of wheels 115 capable of driving the vehicle body 114 to travel. The autonomous vehicle 110 further comprises a power supply controller that, when at least one application assembly is loaded on the vehicle body 114 of the autonomous vehicle 110, provides electric power to the loaded application assembly so that the loaded at least one application assembly can operate. In the illustrated embodiment, the power supply controller may comprise an electrical interface 111 located on the vehicle body 114 and facing the application assembly to be loaded. When an application assembly (for example, the logistics device 120) is loaded on the vehicle body 114 of the autonomous vehicle 110, an electrical connection may be established between the application assembly and the autonomous vehicle through the electrical interface 111, so that at least the application assembly may receive power supply from the autonomous vehicle to operate. The autonomous vehicle 110 or at least one application assembly may comprise an autonomous driving controller such that the autonomous vehicle 110 may operate in an autonomous driving control mode. In some embodiments, the electrical interface 111 may also be a CAN communication interface at the same time, for receiving control signals sent by the autonomous driving controller, so that the autonomous vehicle 110 can perform actions, such as moving forward and backward.

The autonomous driving system 100 comprises a locking mechanism arranged on the autonomous vehicle 110, or on an application assembly, or respectively arranged on the autonomous vehicle 110 and an application assembly, so as to enable locking between the autonomous vehicle 110 and an application assembly loaded on the autonomous vehicle 110. In the illustrated embodiment, the locking mechanism may be a snap connection mechanism, comprising a plurality of first snap members 112 arranged on the autonomous vehicle 110, and second snap members 122 fitting the first snap members 112 on the autonomous vehicle 110 that are arranged on an application assembly (for example, the logistics device 120) .

The autonomous driving system 100 further comprises an unlocking structure arranged on the autonomous vehicle 110 or an application assembly, so as to enable the unlocking of the autonomous vehicle 110 and an application assembly that are locked. In the illustrated embodiment, the unlocking structure may comprise an unlocking switch 113 linked to the locking mechanism, such as the first and

second snap members

112, 122, and the unlocking switch 113 may be installed on the vehicle body 114 of the autonomous vehicle, and when the unlocking switch 113 is turned on, the first and

second snap members

112, 122, which are locked, are unlocked, and an application assembly (for example, the logistics device 120) is unloaded from the autonomous vehicle 110.

The autonomous driving system 100 further comprises an autonomous driving sensing component that may be arranged on the autonomous vehicle 110 or may be arranged on an application assembly. In the illustrated embodiment, a plurality of autonomous driving sensing components 121 are arranged on an application assembly, specifically the logistics device 120, to assist the travelling control in autonomous driving.

As shown in Fig. 3, an application assembly may further comprise a sterilizing device 130 provided with a locking mechanism on the loading and unloading surface of the autonomous vehicle 110 capable of loading and unloading, for example, the second snap members 132 fitting the first snap members 112 of the autonomous vehicle 110, a plurality of autonomous driving sensing components 131 being arranged on the sterilizing device 130 to assist the travelling control in autonomous driving. In addition, the sterilizing device 130 may further comprise a cavity 133 for accommodating a sterilizing liquid and a nozzle 134 for spraying a sterilizing liquid.

As shown in Fig. 4, an application assembly may further comprise a vending device 140 provided with a locking mechanism on the loading and unloading surface of the autonomous vehicle 110 capable of loading and unloading, for example, the second snap members 142 fitting the first snap members 112 of the autonomous vehicle 110, a plurality of autonomous driving sensing components 141 being arranged on the vending device 140 to assist the travelling control in autonomous driving. In addition, the vending device 140 may further comprise a cabinet 143 for displaying, storing, and picking up articles, a vending operation screen 144 for a user to select an article and make a payment, and a pick-up opening 145 for a user to take out a purchased article.

As shown in Fig. 7, the autonomous driving system 100 comprises an autonomous driving controller 103, which allows the autonomous driving system to operate in an autonomous driving control mode. In some embodiments, the autonomous driving controller 103 may be disposed on the autonomous vehicle 110.

The autonomous driving system 100 further comprises a vehicle-mounted controller 102, and the vehicle-mounted controller 102 may be disposed on the autonomous vehicle 110 in some embodiments.

As shown in Fig. 7, the autonomous driving controller 103 can interact with the vehicle-mounted controller 102 regarding autonomous driving control signals through an autonomous driving control area network 603, so that the autonomous driving controller 103 performs autonomous driving control on the autonomous driving system 100, at least on the power train system (not shown) arranged therein. In some embodiments, the power train system includes at least one of a battery assembly, a DC-DC converter, and a motor assembly.

In some embodiments, the autonomous driving controller 103 may also be used to directly interact with a safety system (not shown) of the autonomous vehicle 110 regarding autonomous driving control signals through the autonomous driving control area network 603, thus allowing the autonomous driving controller 103 to directly perform autonomous driving control on the safety system. In some embodiments, the safety system includes at least one of a steering assembly, a braking assembly, and a parking assembly.

Still referring to Fig. 7, the autonomous driving system 100 further comprises a remote receiver 101. The remote receiver 101 is configured to be selectively connectible to the autonomous vehicle 110 for establishing a wireless communication connection to a remote controller 501 through a wireless communication network 601 to allow interaction therebetween regarding remote control signals, so that the remote controller 601 performs remote control on the autonomous driving system 100, at least on the power train system (not shown) and safety system (not shown) arranged therein. Comprehensibly, the remote controller 501 may be controlled by a remote control operation body 500.

In some embodiments, the vehicle-mounted controller 102 is further configured to give precedence to remote control signals over autonomous driving control signals, thereby allowing the remote controller 501 to take precedence over the control performed by the autonomous driving control controller 103 on at least the power train system of the autonomous driving system 100. In other words, at least for the power train system and safety system of the autonomous driving system 100, the remote control mode takes precedence over the autonomous driving control mode.

In the operating mode of autonomous driving control, by means of the autonomous driving control area network 603, the autonomous driving controller 103 can directly communicate with the safety system (not shown) of the autonomous driving system 100, for example, comprising a steering assembly, a braking assembly, and a parking assembly, for interaction regarding autonomous driving control signals, so that the autonomous driving controller 103 directly controls each assembly of the safety system of the autonomous driving system 100. The autonomous driving controller 103 may also be communicatively connected to the vehicle-mounted controller 102 through the autonomous driving control area network 603, so that the autonomous driving controller controls the power train system (not shown) of the autonomous driving system 100. Due to the direct communication connection between the autonomous driving controller and various assemblies of the safety system, the response delay suffered by the safety system is reduced, and in addition, when the vehicle-mounted controller fails, the safety system, which is in the operating mode of remote control, becomes uncontrollable by the remote controller and is brought under the control of the autonomous driving controller, thereby improving operation safety.

In some embodiments, the vehicle-mounted controller 102 is further configured to interact with the remote receiver 101 through the remote control area network 602 regarding at least authentication signals and remote control signals, thereby checking whether the remote receiver 101 uniquely corresponds to the connected autonomous vehicle 100 and processing remote control signals from the remote controller 501. If authentication on uniqueness is passed, which means that a remote control signal from the remote controller 501 may be transmitted uniquely to the autonomous driving system 100, then the vehicle-mounted controller 102 can authorize the remote controller 501 to remotely control the autonomous driving system.

Referring to Fig. 5 and Fig. 6, an apparatus for swapping application assemblies in the above-described autonomous driving system according to an exemplary embodiment of the present application comprises a conveyor 300 configured to store and fetch the at least one application assembly, for example, a logistics device 120, a sterilizing device 130, and a vending device 140, and the at least one application assembly is loaded on or unloaded from the autonomous vehicle 110 in a designated area 210.

As shown in the FIGs, the conveyor 300 comprises a conveyor belt 310 configured with a specific conveyor track to convey at least one application assembly stored on the conveyor track to the designated area 210 to be loaded on the autonomous vehicle 110, or the conveyor belt 310 may also convey at least one application assembly obtained in a designated area 210 and unloaded from the autonomous vehicle 110. The conveyor 300 further comprises a plurality of holders 320 configured to be disposed on the conveyor track, along the conveyor track, or in a state of holding the application assembly or in an idle state, and for placing, in the designated area 210, the held application assembly on the autonomous vehicle 110, or holding, in the designated area 210, the application assembly unloaded from the autonomous vehicle 110.

In the illustrated embodiment, the conveyor belt 310 is configured, for example, above a travelling surface 200 and provided with an annular conveyor track to cyclically convey a plurality of logistics devices 120, sterilizing devices 130 and vending devices 140 suspended on the conveyor track. The holders 320 are suspended on the conveyor belt 310 in pairs, wherein each pair of holders 320 can hold a logistics device 120, a sterilizing device 130 or a vending device 140, and may also be in an idle state waiting to hold another application assembly or an application assembly unloaded from the autonomous vehicle 100. In some embodiments, the holder may be a clamping mechanism, and each application assembly may be provided with a matching clampable structure that may be clamped by the clamping mechanism. The designated area 210 may be partially located in the travelling surface 200, and an application assembly may be loaded and unloaded relative to the autonomous vehicle 110 in the designated area.

Still referring to Fig. 5, when an application assembly needs to be loaded on the autonomous vehicle, the autonomous vehicle 110 may be placed in the designated area 210 through the autonomous driving control or remote control to be loaded with at least one required application assembly, for example, at least one of the logistics device 120, the sterilizing device 130 or the vending device 140, and the conveyor 300 conveys at least one application assembly selected by the user to the designated area 210 through a specific conveyor track to be loaded on the autonomous vehicle 110, which is also located in the designated area.

As indicated by the arrow 401, in the designated area 210, the selected at least one application assembly will be sent to the loading and unloading surface of the autonomous vehicle 110 by the holder 320, and, when at least one application assembly is loaded on the autonomous vehicle, the power control device of the autonomous vehicle provides power to the loaded at least one application assembly, so that the loaded at least one application assembly can operate; meanwhile, a locking mechanism arranged on the application assembly or on the autonomous vehicle or on both enables locking between the autonomous vehicle and the loaded at least one application assembly.

As indicated by the arrow 402, when the loading is completed, the autonomous driving system 100 can leave the designated area 210 by autonomous driving control or remote control.

With continued reference to Fig. 6, when it is necessary to switch a loaded application assembly on the autonomous vehicle, the autonomous vehicle 110 loaded with the application assembly to be switched may be placed in the designated area 210 by autonomous driving control or remote control, as indicated by the arrow 403. The holder 320 on the conveyor 300 in an idle state will be selected and conveyed to the designated area 210, so that at least one application assembly on the autonomous driving system 100 that is also located in the designated area 210 may be unloaded, that is, being clamped, fetched, and stored on the conveyor, as indicated by the arrow 404. When the loaded at least one application assembly is unloaded from the autonomous vehicle, an unlocking mechanism arranged on the application assembly or on the autonomous vehicle may enable unlocking between the autonomous vehicle and the at least one application assembly that are locked. Then, as indicated by the arrow 405, the conveyor belt is caused to move, thus taking the unloaded application assembly away from the designated area 210. Next, referring to Fig. 5, at least one required application assembly is selected and the required at least one application assembly is loaded on the autonomous vehicle in the designated area.

This specification discloses the present application by using embodiments, including preferred embodiments, and also enables those skilled in the art to practice the present application, including making and using any apparatus or system and performing any incorporated method. A patentable scope of the present disclosure is defined by the claims, and may contain other embodiments conceived by those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with no substantial differences from the literal languages of the claims.

Claims

An autonomous driving system capable of swapping application assemblies, the autonomous driving system comprising:

an autonomous vehicle, and

at least one application assembly,

wherein the autonomous vehicle or the at least one application assembly comprises an autonomous driving controller so that the autonomous vehicle can operate in an autonomous driving control mode, and

wherein the at least one application assembly is swappably equipped with the autonomous vehicle, and when the at least one application assembly is equipped with the autonomous vehicle, the autonomous vehicle provides electric power to the equipped at least one application assembly so that the equipped at least one application assembly can operate.
The autonomous driving system according to Claim 1, further comprising:

a locking mechanism arranged on the autonomous vehicle or on the at least one application assembly or on both of them, respectively, to enable locking between the autonomous vehicle and the at least one application assembly, and

an unlocking mechanism arranged on the autonomous vehicle or the at least one application assembly, so as to enable unlocking of the autonomous vehicle and the at least one application assembly that is locked.
The autonomous driving system according to Claim 1, wherein

the at least one application assembly comprises a logistics device, a vending device or a sterilizing device.
The autonomous driving system according to Claim 1, further comprising:

a remote receiver configured to be selectively connectible to the autonomous vehicle for establishing a wireless communication connection to a remote controller through a wireless communication network, thus allowing interaction therebetween regarding remote control signals, so that the remote controller performs remote control on at least the power train system and safety system of the autonomous vehicle;

a vehicle-mounted controller configured to be located on the autonomous vehicle for interacting with the remote receiver at least regarding authentication signals and remote control signals through a remote control area network, thereby checking whether the remote receiver uniquely corresponds to the connected autonomous vehicle and processing remote control signals from the remote controller.
The autonomous driving system according to Claim 4, wherein

the autonomous driving controller is configured to interact with the vehicle-mounted controller regarding autonomous driving control signals through an autonomous driving control area network, thereby allowing the autonomous driving controller to perform autonomous driving control on at least the power train system of the autonomous vehicle.
The autonomous driving system according to Claim 5, wherein

the vehicle-mounted controller is further configured to give precedence to remote control signals over autonomous driving control signals, thereby allowing the remote controller to take precedence over the control performed by the autonomous driving controller on at least the power train system of the autonomous driving system.
The autonomous driving system according to Claim 5, wherein

the autonomous driving controller is further configured to directly interact with a safety system of the autonomous vehicle regarding autonomous driving control signals through an autonomous driving control area network, thereby enabling the autonomous driving controller to directly perform autonomous driving control on the safety system.
A method for swapping application assemblies in an autonomous driving system, the autonomous driving system comprising the autonomous driving system according to any one of Claims 1 to 7, the method comprising:

placing an autonomous vehicle in a determined area to be loaded with at least one required application assembly;

loading at least one required application assembly on the autonomous vehicle in the determined area;

when at least one application assembly is loaded on the autonomous vehicle, the autonomous vehicle provides electric power to the loaded at least one application assembly so that the loaded at least one application assembly can operate.
The method according to Claim 8, further comprising:

placing the autonomous vehicle of the loaded at least one application assembly within the determined area;

in the determined area, unloading the loaded at least one application assembly from the autonomous vehicle, and loading the required at least one application assembly on the autonomous vehicle.
The method according to Claim 8, wherein

when the required at least one application assembly is loaded on the autonomous vehicle, a locking mechanism arranged on the application assembly or on the autonomous vehicle or on both enables locking between the autonomous vehicle and the loaded at least one application assembly.
The method according to Claim 10, wherein

when the loaded at least one application assembly is unloaded from the autonomous vehicle, an unlocking mechanism arranged on the application assembly or on the autonomous vehicle enables unlocking between the autonomous vehicle and the at least one application assembly that are locked.
The method according to Claim 6, wherein

the at least one application assembly comprises a logistics device, a vending device, or a sterilizing device, and the method comprises optionally switching at least one of the logistics device, the vending device, or the sterilizing device.
An apparatus for swapping application assemblies in an autonomous driving system, the autonomous driving system comprising the autonomous driving system according to any one of Claims 1 to 7, the apparatus comprising:

a conveyor configured to access the at least one application assembly, and to load or unload the at least one application assembly with or from the autonomous vehicle in a determined area.
The apparatus according to Claim 13, characterized in that

the conveyor comprises a conveyor belt configured with a specific conveyor track to convey at least one application assembly stored on the conveyor track to the determined area to be loaded on the autonomous vehicle, or to convey at least one application assembly obtained in the determined area and unloaded from the autonomous vehicle.
The apparatus according to Claim 14, characterized in that

the conveyor comprises a plurality of holders configured to be disposed on the conveyor track, along the conveyor track, or in a state of holding the application assembly or in an idle state, and for placing, in the determined area, the held application assembly on the autonomous vehicle, or holding, in the determined area, the application assembly unloaded from the autonomous vehicle.