Multi-vehicle operation cooperative scheduling system and method in port environment

Abstract

The invention provides a port environment multi-vehicle operation cooperative scheduling system, which is applied to an intelligent driving vehicle, and comprises a vehicle-mounted device used for collecting and uploading the driving track data of the vehicle in real time; the electronic fence is used for monitoring a driving track of a vehicle in the electronic fence; the remote monitoring and dispatching platform is used for receiving the vehicle driving track data uploaded by the vehicle-mounted device and the vehicle driving track data in the electronic fence, judging whether the vehicle driving tracks in the electronic fence conflict or not, if yes, sequencing the time when the vehicles in the electronic fence enter the electronic fence in sequence, and sending the sequenced time to the vehicle-mounted device; and issuing a passing instruction to the vehicle entering the electronic fence at the earliest, issuing a parking instruction to other vehicles, and after the vehicle entering the electronic fence at the earliest runs away from the electronic fence, issuing a passing instruction to the next vehicle entering the electronic fence at the earliest, and receiving a communication instruction to the subsequent vehicles until all vehicles in the electronic fence run away.

Description

Technical Field

[0001] The present application relates to intelligent driving technology, and more particularly to a system and method for collaborative scheduling of multiple vehicles in a port environment. Background Art

[0002] The requirements of the Ministry of Transport of my country for the popularization of smart port construction not only place higher and higher requirements on the intelligence of single vehicles, but also gradually increase the intelligence requirements for remote supervision and dispatching platforms. Through the remote supervision and dispatching platform, the connection between vehicles can be established, and the dispatching strategy has also changed from ensuring the smooth operation of single vehicles to how to better coordinate multiple vehicles to complete the task together. At present, the construction of most smart ports has not yet been completely unmanned, and the mixed operation of unmanned container trucks and manned container trucks is adopted. In this complex scenario, the traditional manual dispatching method is difficult to meet the growing operation needs, which has become a bottleneck restricting the development of unmanned operation efficiency. The current dispatching system has the following deficiencies: 1. Insufficient use of data. Automated unmanned container trucks are equipped with a variety of sensors such as combined navigation, gyroscopes, and wheel speed meters. Through 5G wireless communication technology, the remote dispatching platform can obtain data from these sensors in real time and display it to operators as a reference for decision-making. It contains a large amount of information about the vehicle during driving, such as position, speed, acceleration, angular velocity, etc., which has not been effectively utilized and has not fully played its role in dispatching optimization; 2. Inflexible dispatching has safety hazards and poor adaptability. Traditional dispatching systems rely more on preset routes and schedules. Once an abnormal situation occurs, all operations on the route will be affected, reducing operational efficiency. When unmanned vehicles meet at intersections, they are prone to lock and motionlessness due to conflicts in the routes between vehicles. Due to the lack of an effective coordination mechanism, they cannot be dynamically adjusted according to real-time traffic conditions. Manual intervention is required to make decisions and increase human labor costs, which is prone to collision accidents and threatens operational safety. Summary of the invention

[0003] In view of this, the present invention provides a system and method for collaborative scheduling of multiple vehicles in a port environment to solve technical problems such as insufficient data utilization, inflexible scheduling, low safety factor, and poor operating efficiency in the prior art.

[0004] The present invention provides a multi-vehicle operation collaborative dispatching system in a port environment, which is applied to intelligent driving vehicles. The system comprises: an on-board device, including an on-board sensor and a communication device, which is arranged on the vehicle and is used to collect and upload the vehicle's driving trajectory data in real time; an electronic fence, which is arranged in the intersection area on the port operation line and is used to monitor the driving trajectory of vehicles in the electronic fence, so as to find the conflict points of the vehicle driving trajectory in the electronic fence and provide a basis for dispatching decisions; a remote monitoring dispatching platform, which is respectively connected to the on-board device and the electronic fence through a network, and is used to receive the vehicle driving trajectory data uploaded by the on-board device and the vehicle driving trajectory data in the electronic fence, and according to the above vehicle driving trajectory data, Determine whether there is a conflict in the driving trajectories of vehicles in the electronic fence. If there is a conflict, the vehicles in the electronic fence are sorted in order of the time they enter the electronic fence, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles follow up with pass commands until all vehicles in the electronic fence leave; if the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle, and after the left-turning vehicle leaves, a communication command is finally issued to the right-turning vehicle.

[0005] Furthermore, the vehicle-mounted sensor combines navigation, IMU, and wheel speed meter.

[0006] The present invention also provides a method for coordinated dispatching of multiple vehicles in a port environment, the method comprising: step 1, setting an electronic fence at an intersection where the route passes according to the operation route; step 2, the vehicle-mounted device uploads the vehicle driving trajectory data collected in real time to the remote monitoring and dispatching platform; step 3, monitoring the driving trajectory of the vehicle in the electronic fence and uploading it to the remote monitoring and dispatching platform, so as to predict the conflict point of the vehicle driving trajectory in the electronic fence; step 4, after the remote monitoring and dispatching platform receives the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data in the electronic fence, it determines whether there is a conflict in the vehicle driving trajectory in the electronic fence; step 5 If there is a conflict, the time when the vehicles in the electronic fence enter the electronic fence is sorted, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive the pass command in succession until all vehicles in the electronic fence leave; step 6, if the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle. After the left-turning vehicle leaves, a pass command is finally issued to the right-turning vehicle.

[0007] Furthermore, the vehicle driving trajectory data includes speed, longitude and latitude, heading angle, and driving trajectory points.

[0008] Furthermore, the shape and size of the electronic fence are defined according to the geometric features of the intersection.

[0009] Furthermore, the step 3 includes: step 31, the remote monitoring and scheduling platform pre-processes the received driving trajectory point data to ensure the accuracy and reliability of the data; step 32, according to the pre-processed data, the current driving position and predicted driving trajectory of the vehicle are matched with the electronic fence position data to determine whether the vehicle enters the electronic fence; step 33, when the vehicle enters the electronic fence, the vehicle driving trajectory is uploaded to the remote monitoring and scheduling platform to predict the conflict point of the vehicle driving trajectory within the electronic fence.

[0010] Furthermore, the step 4 includes: step 41, judging the direction of the vehicle according to the current position, heading angle and target mission point information of the vehicle; step 42, when the two vehicles are moving in opposite directions and the heading angles of the two vehicles differ by 180°, judging that the two vehicles are moving straight relative to each other, then the two vehicles pass directly; step 43, when the driving trajectories of the two vehicles intersect, go to step 5.

[0011] According to the method for coordinated scheduling of multiple vehicle operations in a port environment as described in claim 3, it is characterized in that step 4 also includes: after the remote monitoring and scheduling platform receives the driving trajectory of the vehicle outside the electronic fence, it does not judge whether the vehicle driving trajectory conflicts.

[0012] Furthermore, the step 5 also includes: the remote monitoring and dispatching platform generates a passing instruction and a parking instruction, and sends them to the corresponding vehicles via a wireless communication device.

[0013] Furthermore, the method also includes: Step 7, when all vehicles leave the electronic fence, the current scheduling ends.

[0014] The present invention provides a coordinated dispatching system and method for multiple vehicles in a port environment. The technical solution uses sensor technology and communication equipment to achieve remote and accurate perception of vehicle-side driving information, and combines the application of electronic technology to solve the problem that vehicles are locked and cannot move autonomously at intersections during operation, requiring manual intervention. The present invention can optimize the management of unmanned container truck operations in ports, improve loading and unloading efficiency and abnormal situation handling speed, thereby shortening cargo turnover time, achieving faster and more efficient cargo transportation operation efficiency, reducing the accident rate of operations, and improving the overall operation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of a method for coordinated dispatching of multiple vehicles in a port environment provided by the present invention; Figure 2This is a schematic diagram of a framework of a multi-vehicle collaborative scheduling system for a port environment provided by the present invention; Figure 3 It is a schematic diagram of a two-vehicle intersection traffic strategy provided by the present invention; Figure 4 It is a schematic diagram of a multi-vehicle intersection traffic strategy provided by the present invention; Figure 5 It is a flow chart of another method for collaborative scheduling of multiple vehicles in a port environment provided by the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Embodiment 1: The present invention provides a system and method for coordinating and dispatching multiple vehicles in a port environment. Figure 2 As shown, the system includes a vehicle-mounted device, an electronic fence, and a remote monitoring and dispatching platform. Figure 1 As shown, the method steps are as follows.

[0018] Step 1: Set up electronic fences at the intersections along the route according to the operation route; Electronic fences are set up at the intersections on the port operation line to monitor the driving trajectories of vehicles within the electronic fences in order to find conflicting points in the driving trajectories of vehicles within the electronic fences and provide a basis for scheduling decisions. Electronic fence technology refers to the use of information technology to define virtual fences for parking and prohibited parking areas for Internet rental bicycles. When Internet rental bicycles enter or leave the virtual fences, the enterprise operation platform can automatically sense it.

[0019] Step 2: The vehicle-mounted device uploads the real-time collected vehicle driving trajectory data to the remote monitoring and dispatching platform; The on-board device, including on-board sensors and communication equipment, is installed on the vehicle and is used to collect and upload the vehicle's driving trajectory data in real time; the on-board sensor combined navigation, IMU, and wheel speed meter. The vehicle uploads the vehicle position (latitude and longitude), speed, heading angle and other data perceived by the combined navigation, IMU, wheel speed meter and other sensors on the intelligent driving vehicle, i.e., the unmanned container truck, to the dispatching platform in real time through the 5G network or dedicated wireless communication module.

[0020] Step 3, monitoring the driving trajectories of vehicles within the electronic fence and uploading them to the remote monitoring and scheduling platform to predict the conflict points of the driving trajectories of vehicles within the electronic fence; Step 4: after receiving the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data within the electronic fence, the remote monitoring and dispatching platform determines whether there is a conflict in the vehicle driving trajectory within the electronic fence; The remote monitoring and dispatching platform is connected to the vehicle-mounted device and the electronic fence through the network, and is used to receive the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data in the electronic fence, and judge whether there is a conflict in the vehicle driving trajectory in the electronic fence according to the above vehicle driving trajectory data. If there is a conflict, the time of entering the electronic fence by the vehicles in the electronic fence is sorted, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive communication pass commands in succession until all vehicles in the electronic fence leave; if the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle, and after the left-turning vehicle leaves, a communication command is finally issued to the right-turning vehicle.

[0021] Step 5: If there is a conflict, the vehicles in the electronic fence are sorted according to the time they enter the electronic fence, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive the pass command in succession until all vehicles in the electronic fence leave. Step 6: If the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to the other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle. After the left-turning vehicle leaves, a pass command is issued to the right-turning vehicle.

[0022] The present invention provides a multi-vehicle collaborative scheduling system and method for port environment, aiming to improve the efficiency and safety of unmanned container truck handling operations in ports. First, electronic fences are pre-set at different intersections in the operation area, and the intelligent driving vehicle uploads the current intelligent driving vehicle real-time track point information and the track point route set to be driven through 5G communication. After receiving the data, the remote monitoring and scheduling platform makes a decision on the driving priority of the vehicle falling into the electronic fence, and sends the decision signal to the vehicle, so as to realize the precise scheduling and management of the vehicle driving in the port yard-intersection area, and improve the efficiency and operation safety of port logistics. The remote monitoring and scheduling platform provided by the present invention can dynamically adjust the scheduling strategy according to the real-time traffic conditions, ensure the efficient operation of the intelligent driving vehicle in a complex traffic environment, and through the real-time monitoring and feedback mechanism, the present invention can significantly improve the operation efficiency of unmanned vehicles in the port yard, timely adjust the driving path and speed of the vehicle to reduce the operation accident rate, avoid traffic congestion and accidents, and provide strong technical support for the construction of smart ports. This technical solution is not only applicable to port yards, but also can be extended to other similar scenarios, such as industrial parks, logistics centers, etc., and has broad application prospects.

[0023] Embodiment 2: The present invention provides a system and method for coordinating and dispatching multiple vehicles in a port environment. Figure 1 As shown, the method steps are as follows.

[0024] Step 1: Set up electronic fences at the intersections along the route according to the operation route; The shape and size of the electronic fence are defined according to the geometric features of the intersection. When there are many vehicles in the operating area, the method of pre-scheduling by predicting the vehicle's driving trajectory to determine whether there is a risk of conflict consumes a lot of computing power for the server, and may cause calculation errors and send erroneous instructions. The present invention sets an electronic fence in the intersection area where vehicles are prone to interact on the port operation line, focuses on observing the vehicle operation conditions there, is lighter and requires less computing power, and can promptly discover potential traffic conflict points by monitoring the driving trajectory of vehicles in the electronic fence, providing a basis for scheduling decisions.

[0025] Step 2: The vehicle-mounted device uploads the real-time collected vehicle driving trajectory data to the remote monitoring and dispatching platform; The vehicle driving trajectory data includes speed, longitude and latitude, heading angle, and driving trajectory points. The present invention uses vehicle-mounted sensors and communication equipment to collect and upload the driving trajectory point data of unmanned vehicles in real time, including position (longitude and latitude), speed, heading angle and other information, to achieve comprehensive monitoring of the vehicle's driving status.

[0026] Step 3, monitoring the driving trajectories of vehicles within the electronic fence and uploading them to the remote monitoring and scheduling platform to predict the conflict points of the driving trajectories of vehicles within the electronic fence; Step 4: after receiving the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data within the electronic fence, the remote monitoring and dispatching platform determines whether there is a conflict in the vehicle driving trajectory within the electronic fence; Step 5: If there is a conflict, the vehicles in the electronic fence are sorted according to the time they enter the electronic fence, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive the pass command in succession until all vehicles in the electronic fence leave. It can be seen from steps 4 and 5 that the technical solution provided by the present invention is to make obstacle avoidance decisions by a remote monitoring and dispatching platform, while the obstacle avoidance decision behavior of the prior art is performed by the vehicle side. This method does not build a connection and interaction between vehicles, and cannot autonomously solve the problem of locking and braking of vehicles at intersections. In contrast, the prior art can control the passage and parking of vehicles at intersections. This technical solution comprehensively utilizes the speed, longitude and latitude, heading angle and other information uploaded by the vehicle in real time for multi-dimensional data fusion, and considers the influence of the vehicle's kinematic constraints to predict the driving trajectory of vehicles falling into the electronic fence in advance. By taking into account the "first come, first go" rule, the "straight ahead is greater than left turn and greater than right turn" priority rule and the vehicle heading angle and other factors, the intelligent decision-making algorithm is used to accurately dispatch vehicles with conflicting driving trajectories, ensure the scientificity and rationality of the dispatching decision, and improve the accuracy and reliability of the dispatching decision.

[0027] The remote monitoring and dispatching platform generates dispatching instructions (passing instructions and parking instructions) based on the above decision rules and sends them to the corresponding vehicles through wireless communication equipment. After receiving the dispatching instructions, the vehicles adjust the driving path and speed according to the instructions to ensure safe and efficient passage through the intersection.

[0028] Step 6: If the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to the other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle. After the left-turning vehicle leaves, a pass command is issued to the right-turning vehicle.

[0029] The technical solution provided by the present invention ensures that the vehicle can receive the dispatch instruction and respond in time through real-time communication between the intelligent driving vehicle and the dispatch platform. Through the vehicle-road cooperative system, the safety and efficiency of the vehicle in performing tasks are improved.

[0030] The present invention provides a multi-vehicle collaborative scheduling system and method for port environment, aiming to improve the efficiency and safety of unmanned container truck handling operations in ports. First, electronic fences are pre-set at different intersections in the operation area, and the intelligent driving vehicle uploads the current intelligent driving vehicle real-time track point information and the track point route set to be driven through 5G communication. After receiving the data, the remote monitoring and scheduling platform makes a decision on the driving priority of the vehicle falling into the electronic fence, and sends the decision signal to the vehicle, so as to realize the precise scheduling and management of the vehicle driving in the port yard-intersection area, and improve the efficiency and operation safety of port logistics. The remote monitoring and scheduling platform provided by the present invention can dynamically adjust the scheduling strategy according to the real-time traffic conditions, ensure the efficient operation of the intelligent driving vehicle in a complex traffic environment, and through the real-time monitoring and feedback mechanism, the present invention can significantly improve the operation efficiency of unmanned vehicles in the port yard, timely adjust the driving path and speed of the vehicle to reduce the operation accident rate, avoid traffic congestion and accidents, and provide strong technical support for the construction of smart ports. This technical solution is not only applicable to port yards, but also can be extended to other similar scenarios, such as industrial parks, logistics centers, etc., and has broad application prospects.

[0031] Embodiment three: The present invention provides a system and method for coordinating and dispatching multiple vehicles in a port environment. Figure 5 As shown, the method steps are as follows.

[0032] Step 1: Set up electronic fences at the intersections along the route according to the operation route; Step 2: The vehicle-mounted device uploads the real-time collected vehicle driving trajectory data to the remote monitoring and dispatching platform; Step 3, monitoring the driving trajectories of vehicles within the electronic fence and uploading them to the remote monitoring and scheduling platform to predict the conflict points of the driving trajectories of vehicles within the electronic fence; The step 3 specifically includes the following steps.

[0033] Step 31, the remote monitoring and dispatching platform pre-processes the received driving trajectory point data to ensure the accuracy and reliability of the data; Step 32, according to the preprocessed data, the current driving position and predicted driving trajectory of the vehicle are matched with the electronic fence position data to determine whether the vehicle enters the electronic fence; Step 33, when the vehicle enters the electronic fence, the vehicle driving trajectory is uploaded to the remote monitoring and scheduling platform to predict the conflict point of the vehicle driving trajectory within the electronic fence.

[0034] Step 4: after receiving the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data within the electronic fence, the remote monitoring and dispatching platform determines whether there is a conflict in the vehicle driving trajectory within the electronic fence; The step 4 specifically includes the following steps.

[0035] Step 41, determining the vehicle's driving direction according to the vehicle's current position, heading angle, and target mission point information; Step 42, when the two vehicles are moving in opposite directions and the heading angles of the two vehicles differ by 180°, it is determined that the two vehicles are moving straight ahead relative to each other, and the two vehicles pass directly; Step 43: when the driving trajectories of the two vehicles intersect, go to step 5.

[0036] The intersection of the driving trajectories of the two vehicles means that the two vehicles are in conflict. In addition, step 4 also includes: after receiving the driving trajectory of the vehicle outside the electronic fence, the remote monitoring and dispatching platform does not judge whether the vehicle driving trajectory conflicts. That is, the remote monitoring and dispatching platform only monitors and judges the driving trajectory of the vehicle that will enter the fence, thereby reducing the computing power requirements of the platform and improving the monitoring efficiency.

[0037] Step 5: If there is a conflict, the vehicles in the electronic fence are sorted according to the time they enter the electronic fence, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive the pass command in succession until all vehicles in the electronic fence leave. The step 5 also includes: the remote monitoring and dispatching platform generates a passing instruction and a parking instruction, and sends them to the corresponding vehicles through the wireless communication device.

[0038] Step 6: If the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to the other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle. After the left-turning vehicle leaves, a pass command is issued to the right-turning vehicle.

[0039] For example, Figure 3 As shown, two vehicles meet at the yard intersection, A and B. The middle rectangular box is a preset electronic fence. Vehicle A, which arrives first, has priority to pass, and the other vehicle B waits outside the electronic fence. After A passes, vehicle B can pass. When multiple vehicles meet at the intersection, as mentioned above, ensure that one vehicle passes normally, and the other vehicles (outside the electronic fence) wait. After the first vehicle passes, the vehicles are dispatched to pass in turn according to the traffic rules. Figure 4 As shown, two vehicles meet at the yard intersection A, B, C, and D. The middle rectangular box is a preset electronic fence. When multiple vehicles meet at the intersection, all vehicles pass in turn according to the traffic priority rules.

[0040] Step 7: When all vehicles leave the electronic fence, the scheduling ends.

[0041] Before the leading vehicle leaves the electronic fence area, the dispatching platform monitors the driving status of the vehicle in real time, dynamically adjusts the dispatching strategy and updates the trajectory until the leading vehicle leaves, and sends a release waiting instruction to other vehicles. When all vehicles leave the electronic fence area, the dispatch is completed.

[0042] The present invention provides a multi-vehicle collaborative scheduling system and method for port environment, aiming to improve the efficiency and safety of unmanned container truck handling operations in ports. First, electronic fences are pre-set at different intersections in the operation area, and the intelligent driving vehicle uploads the current intelligent driving vehicle real-time track point information and the track point route set to be driven through 5G communication. After receiving the data, the remote monitoring and scheduling platform makes a decision on the driving priority of the vehicle falling into the electronic fence, and sends the decision signal to the vehicle, so as to realize the precise scheduling and management of the vehicle driving in the port yard-intersection area, and improve the efficiency and operation safety of port logistics. The remote monitoring and scheduling platform provided by the present invention can dynamically adjust the scheduling strategy according to the real-time traffic conditions, ensure the efficient operation of the intelligent driving vehicle in a complex traffic environment, and through the real-time monitoring and feedback mechanism, the present invention can significantly improve the operation efficiency of unmanned vehicles in the port yard, timely adjust the driving path and speed of the vehicle to reduce the operation accident rate, avoid traffic congestion and accidents, and provide strong technical support for the construction of smart ports. This technical solution is not only applicable to port yards, but also can be extended to other similar scenarios, such as industrial parks, logistics centers, etc., and has broad application prospects.

[0043] In summary, the technical solution provided by the embodiment of the present invention draws electronic fences at different intersections on the remote dispatching platform, uses the advanced sensor technology and communication equipment of the vehicle, uploads speed, longitude and latitude, heading angle, vehicle trajectory points and other information to predict the trajectory points, realizes remote and accurate perception of vehicle-side driving information, combines big data processing and algorithm optimization, makes decisions on vehicles whose trajectory points fall within the electronic fence, and solves the problem that vehicles are locked and cannot move autonomously at the intersection during operation and require manual intervention. The timing of triggering passing vehicles and waiting vehicles: by making decisions in advance for vehicles whose driving trajectories intersect in the electronic fence area, if there is a conflict, it is necessary to dispatch in advance to issue a waiting vehicle parking instruction to wait outside the electronic fence, so as to reserve enough space for passing vehicles to pass normally and safely, and passing vehicles will pass according to the normal driving route without intervention. The subsequent passage of waiting vehicles needs to wait for the passing vehicles to pass through the intersection completely before passing. Taking the electronic fence area as the threshold, after the vehicle completely leaves the electronic fence, it is considered that the vehicle has passed the intersection.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-vehicle collaborative dispatching system in a port environment, applied to intelligent driving vehicles, characterized in that: The system comprises: The vehicle-mounted device, including the vehicle-mounted sensor and the communication device, is installed on the vehicle and is used to collect and upload the vehicle's driving trajectory data in real time; Electronic fences are set up at the intersections on the port operation line to monitor the driving trajectories of vehicles within the electronic fences, so as to find conflicting points of the driving trajectories of vehicles within the electronic fences and provide a basis for scheduling decisions; The remote monitoring and dispatching platform is connected to the vehicle-mounted device and the electronic fence through the network, and is used to receive the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data in the electronic fence, and judge whether there is a conflict in the vehicle driving trajectory in the electronic fence according to the above vehicle driving trajectory data. If there is a conflict, the time of entering the electronic fence by the vehicles in the electronic fence is sorted, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive communication pass commands in succession until all vehicles in the electronic fence leave; if the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle, and after the left-turning vehicle leaves, a communication command is finally issued to the right-turning vehicle.

2. According to claim 1, a method for coordinated dispatching of multiple vehicles in a port environment is characterized in that: The vehicle-mounted sensor combines navigation, IMU, and wheel speed meter.

3. A method using the port environment multi-vehicle operation collaborative scheduling system according to claims 1-2, characterized in that: The method comprises: Step 1: Set up electronic fences at the intersections along the route according to the operation route; Step 2: The vehicle-mounted device uploads the real-time collected vehicle driving trajectory data to the remote monitoring and dispatching platform; Step 3, monitoring the driving trajectories of vehicles within the electronic fence and uploading them to the remote monitoring and scheduling platform to predict the conflict points of the driving trajectories of vehicles within the electronic fence; Step 4: after receiving the vehicle driving trajectory data uploaded by the vehicle-mounted device and the vehicle driving trajectory data within the electronic fence, the remote monitoring and dispatching platform determines whether there is a conflict in the vehicle driving trajectory within the electronic fence; Step 5: If there is a conflict, the vehicles in the electronic fence are sorted according to the time they enter the electronic fence, and a pass command is issued to the vehicle that enters the electronic fence earliest, and a stop command is issued to other vehicles. After the vehicle that enters the electronic fence earliest leaves the electronic fence, a pass command is issued to the next vehicle that enters the electronic fence earliest, and subsequent vehicles receive the pass command in succession until all vehicles in the electronic fence leave. Step 6: If the vehicles enter the electronic fence at the same time, a pass command is issued to the straight-moving vehicle, and a stop command is issued to the other vehicles. After the straight-moving vehicle leaves, a pass command is issued to the left-turning vehicle. After the left-turning vehicle leaves, a pass command is issued to the right-turning vehicle.

4. According to claim 3, a method for coordinated dispatching of multiple vehicles in a port environment is characterized in that: The vehicle driving trajectory data includes speed, longitude and latitude, heading angle, and driving trajectory points.

5. According to claim 3, a method for coordinated dispatching of multiple vehicles in a port environment is characterized in that: The shape and size of the electronic fence are defined according to the geometric features of the intersection.

6. According to claim 3, a method for coordinated dispatching of multiple vehicles in a port environment is characterized in that: The step 3 comprises: Step 31, the remote monitoring and dispatching platform pre-processes the received driving trajectory point data to ensure the accuracy and reliability of the data; Step 32, according to the preprocessed data, the current driving position and predicted driving trajectory of the vehicle are matched with the electronic fence position data to determine whether the vehicle enters the electronic fence; Step 33, when the vehicle enters the electronic fence, the vehicle driving trajectory is uploaded to the remote monitoring and scheduling platform to predict the conflict point of the vehicle driving trajectory within the electronic fence.

7. The method for coordinated dispatching of multiple vehicles in a port environment according to claim 3 is characterized in that: The step 4 comprises: Step 41, determining the vehicle's driving direction according to the vehicle's current position, heading angle, and target mission point information; Step 42, when the two vehicles are moving in opposite directions and the heading angles of the two vehicles differ by 180°, it is determined that the two vehicles are moving straight ahead relative to each other, and the two vehicles pass directly; Step 43: when the driving trajectories of the two vehicles intersect, go to step 5.

8. According to claim 3, a method for coordinated dispatching of multiple vehicles in a port environment is characterized in that: The step 4 also includes: after receiving the driving trajectory of the vehicle outside the electronic fence, the remote monitoring and dispatching platform does not judge whether the vehicle driving trajectory conflicts.

9. A method for coordinated dispatching of multiple vehicles in a port environment according to claim 3, characterized in that: The step 5 also includes: the remote monitoring and dispatching platform generates a passing instruction and a parking instruction, and sends them to the corresponding vehicles through the wireless communication device.

10. The method for coordinated dispatching of multiple vehicles in a port environment according to claim 3, characterized in that: The method further comprises: Step 7: When all vehicles leave the electronic fence, the scheduling ends.

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