Vehicle automatic driving method and system in container dock area

Abstract

The invention discloses a vehicle automatic driving method in a container dock area. The vehicle automatic driving method is characterized by including the following steps: judging whether a vehicle stays in a bridge crane area; if the vehicle stays in a bridge crane area, judging whether a lane line can be recognized, and adopting a mode I for automatic driving if the lane line can be recognized;if the lane line cannot be recognized, the vehicle giving an alarm; if the area where the vehicle stays is not the bridge crane area, judging whether satellite navigation information can be received,adopting a mode II for automatic driving if the satellite navigation information can be received; judging whether the vehicle can recognize the lane line if the satellite navigation information cannot be received, and adopting the mode I for automatic driving if the vehicle can recognize the lane line; if the satellite navigation information cannot be received and the lane line cannot be recognized, the vehicle giving an alarm. The invention also discloses an automatic driving system. On the basis of operating environments of a dock area, the automatic driving method can be dynamically selected in real time, and vehicle positioning is accurate.

Description

technical field [0001] The invention relates to the technical field of information processing, in particular to a vehicle automatic driving method and system in a container terminal area. Background technique [0002] In the operation process of the port container terminal, the bridge crane is the standard container loading and unloading operation equipment on the terminal surface. The multi-layer steel frame structure of the bridge crane will cause obvious multipath effects to the global satellite positioning system receiver under the bridge crane, resulting in low satellite positioning accuracy or even inability to complete position calculation. When a large container ship is docked, there are usually multiple bridge cranes operating side by side, which will form a steel tunnel on the wharf, causing the satellite positioning system to fail completely, resulting in the failure of the automatic driving technology based on high-precision satellite positioning to work on the w...

AI Technical Summary

Problems solved by technology

However, the problem with this method is that the vehicle must be in a very open place to calculate its own precise location information, and the operation scene of the port wharf is covered by many bridge cranes, so this method cannot be used to achieve precise positioning

But the problem with this method is that all the venues where the vehicle travels must have very clear and correct lane markings

[0006] 1) The operating environment in the port terminal area is complex. The bridge cranes in the terminal area will cause the satellite positioning system to fail to work, and there are no lane markings on the roads entering and leaving the terminal, so vehicles cannot realize true automatic driving in this complex environment.

[0007] 2) In the container work scene at the wharf, because the hooks are used to load and unload containers of various sizes, the automatic driving method must control the vehicle at the centimeter level, and the control deviation of the vehicle's orientation must also be within 5°. However, the existing positioning methods are difficult to accurately locate the vehicle, making it impossible for the container to be loaded and unloaded normally.

[0008] 3) In the dock container work scene, a lot of manpower and material resources are required, so the cost is high; and the driver will easily cause various accidents due to fatigue, line of sight and other problems, and there are great safety hazards in the port transportation

Images