Logistics park traffic control system and method based on mixed driving of automatic driving and manual driving

Abstract

The invention discloses a logistics park traffic control system and method based on mixed driving of automatic driving and manual driving. The system comprises a cloud end, a road end and a vehicle end which establish mutual communication channels, wherein the cloud end sends a path and a conflict decision plan to the road end, and receives the road condition abnormal information sent by the road end; the cloud end sends the path information to the vehicle end and receives the pose information sent by the vehicle end; and the road end sends a road condition abnormity and conflict area passing instruction to the vehicle end, and receives a conflict area passing request and the pose information sent by the vehicle end. The invention provides a mode of centralized control, roadside control and vehicle autonomous navigation division and cooperation, so high efficiency of centralized scheduling of upper-layer vehicles can be exerted, real-time performance of control of roadside equipment can be utilized, and flexibility of automatic driving of vehicle equipment can be exerted at the same time.

Description

Technical field [0001] The present invention relates to automatic driving technology of logistics park, and more particularly to a logistics park traffic control system and method based on automatic, manual driving mixed logistics park. Background technique [0002] The logistics park refers to the work area that moves goods within a limited range using handling equipment. From the perspective of transportation equipment driving technology, it can be divided into logistics parks based on automatic driving vehicles (typically adopting automatic guidance trolley as a warehouse, referred to as automated logistics park), based on manual driving vehicle logistics park (typical) The harbor, referred to as the artificial logistics park, which is referred to as the artificial logistics park. Campus, factory, referred to as the mixed logistics park). [0003] Regardless of which type of logistics park, for the control system, it is necessary to solve two types of problems, one is safety, ...

AI Technical Summary

Problems solved by technology

[0006] When passing through the intersection, if there are no good control measures, congestion will form, and the further spread of congestion may cause a deadlock problem that cannot be resolved naturally

This can be understood from the experience of urban traffic. It is easy to form congestion at the intersection during peak hours, and once the congestion is formed, it is difficult to disappear naturally without the intervention of the traffic police.

There is a problem in the time-sharing multiplexing methods of measures such as traffic lights and gates, that is, how to improve the multiplexing efficiency, avoid extra waiting when there is no car, and avoid frequent switching during peak hours, which leads to wasting time

Use the central control mechanism to calculate all the vehicles in the field in real time, estimate the possible conflicts at the intersection, and provide solutions, which can effectively avoid this problem, but it is difficult, and it is often incapable of dealing with large-scale and complex traffic conditions

[0007] 2) "ghost probe" problem

The usual practice in the industry is: slow traffic, that is, vehicles pass through some areas that may have large blind spots at a very low speed, and at this time more traffic efficiency is lost; reduce blind spots, that is, increase roadside equipment, or allow vehicles to communicate with each other. Data sharing can reduce blind spots, but this method is not very friendly to high-speed vehicles and vehicle intersections, because it is difficult to decide the order of traffic independently; relying on centralized dispatching, the order of traffic can be arranged in advance to solve the problem of vehicle-vehicle intersections, but For unexpected abnormalities or pedestrians that are difficult to control or the response time is too slow, it is not safe enough in mixed traffic parks

[0009] 3) Overtaking problem

Generally speaking, the centralized scheduling scheme is not suitable for this working condition, because considering the network transmission and synchronization issues, it is necessary to identify the working condition and make a decision in a very short time, and at the same time, it only strives for a small amount of income, and the overtaking window may be difficult Just a few seconds is not worth the consumption of delay

In a mixed-traffic park, if you rely on the vehicle's own capabilities, there will be insufficient judgment information, it will be difficult to overtake safely, and even rushing will occur.

Installing roadside equipment can provide a better solution to this problem, but the observation range of roadside equipment is limited, and the cost is high to cover the whole field, and the utilization rate in relatively empty areas is not high

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