A multi-vehicle cooperative operation method and system based on a wireless network

Abstract

This invention relates to the field of vehicle collaborative operation technology, providing a multi-vehicle collaborative operation method and system based on a wireless network, comprising the following steps: loading vehicle parameters, broadcasting the vehicle parameters in real time, receiving vehicle parameters sent by other vehicles, and generating an online vehicle list; determining a global leader based on the online vehicle list, the online vehicle list containing several vehicle parameters; sending task information to the global leader; analyzing the online vehicle list and task information through the global leader to determine the task group receiving the task information, the task group containing one or more vehicle IDs; determining a coordinator for each task group, the coordinator decomposing the task, determining the task path for each vehicle in the task group, and sending the task path to the corresponding vehicle. This invention implements a decentralized task allocation and path planning mechanism, reducing the risk of single point of failure and achieving higher processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle collaborative operation technology, specifically to a multi-vehicle collaborative operation method and system based on wireless network. Background Technology

[0002] In scenarios such as large-scale smart warehouses, logistics distribution centers, and intelligent transportation, multiple autonomous vehicles (such as Automated Guided Vehicles (AGVs) and intelligent delivery vehicles) need to work collaboratively to complete cargo handling and logistics delivery tasks. These scenarios are typically large-scale, involving numerous vehicles operating simultaneously, and the operating environment changes frequently. With the rapid development of wireless communication technology, wireless networks provide a convenient communication means for multi-vehicle collaborative operations. Warehouse management systems (WMS) or scheduling systems can dynamically issue order tasks, and vehicles need to respond to these task instructions in real time and cooperate efficiently with other vehicles to complete the tasks.

[0003] However, traditional multi-vehicle collaborative operation methods often rely excessively on a central controller for unified task allocation and path planning. As the core of the entire system, a failure of the central controller paralyzes the entire system, becoming a single point of failure. Furthermore, under high load conditions, the concentration of task requests and data processing from numerous vehicles on the central controller leads to significantly increased response latency, severely impacting operational efficiency. Therefore, a multi-vehicle collaborative operation method and system based on a wireless network is needed to address these issues. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a multi-vehicle cooperative operation method and system based on wireless network to solve the problems existing in the background technology.

[0005] This invention is implemented as follows: a multi-vehicle cooperative operation method based on a wireless network, the method comprising the following steps:

[0006] Load vehicle parameters, broadcast vehicle parameters in real time, receive vehicle parameters sent by other vehicles, and generate an online vehicle list;

[0007] The global leader is determined based on the online vehicle list, which contains several vehicle parameters, including vehicle ID, computing power, battery life, available load, task status, and location.

[0008] Send the task information to the global leader. The task information includes the task ID, starting coordinates, ending coordinates, priority, and cargo weight.

[0009] The global leader analyzes the online vehicle list and task information to determine the task group that receives the task information. The task group contains one or more vehicle IDs.

[0010] A coordinator is assigned to each task group. The coordinator breaks down the tasks, determines the task path for each vehicle in the task group, and sends the task path to the corresponding vehicle.

[0011] The task path is shared with neighboring vehicles, and when a conflict is about to occur, the vehicle automatically makes a decision to avoid it.

[0012] As a further aspect of the present invention, the step of determining the task group receiving the task information specifically includes:

[0013] Calculate the load score, range score, distance score, and mission status score for each online vehicle to determine the overall score;

[0014] All vehicles are sorted in descending order based on their comprehensive scores. The top N vehicles in the sort are determined based on their available load and cargo weight, and these top N vehicles form a task group.

[0015] As a further aspect of the present invention, the step of determining the task path for each vehicle in the task group specifically includes:

[0016] Identify the first vehicle in the task group whose task status is idle, determine the task path of the first vehicle, and when the vehicle reaches the starting coordinates, it needs to wait for the preceding vehicle to load the cargo, and the corresponding road segment of the task path is marked with the waiting time.

[0017] Determine the second vehicle with priority level 1 in the task status, and determine whether the second vehicle should complete the remaining tasks first or go directly to the starting coordinates based on the route proximity, and determine the task path of the second vehicle.

[0018] Identify the third vehicle with a priority of level two in the task status. Based on the route proximity and detour waiting time, determine whether the third vehicle should complete the remaining tasks first or go directly to the starting coordinates, and determine the task path of the third vehicle.

[0019] Identify the fourth vehicle, which has a priority of level three in the mission status. Determine that the fourth vehicle completes the remaining tasks before proceeding to the starting coordinates, and determine the mission path for the fourth vehicle.

[0020] As a further aspect of the present invention, the step of automatically making decision-making and avoiding obstacles specifically includes:

[0021] Determine whether the corresponding road segments of the mission path of the vehicles that are about to have a conflict are marked as requiring waiting; vehicles marked as requiring waiting should slow down and stop to give way.

[0022] When there is no marking, the vehicle that should slow down and stop to avoid the obstacle will be determined according to the task priority.

[0023] When there is no label and the task priorities are the same, the vehicle that should slow down and stop to avoid the obstacle is determined based on the load weight and battery range.

[0024] As a further aspect of the present invention, when determining the global leader, it is determined based on computing power; when determining the coordinator, it is first determined based on computing power, and after the task path is determined, the coordinator is then transferred to the vehicle that last arrived at the starting point coordinates.

[0025] As a further aspect of this invention, all vehicles periodically broadcast heartbeat signals, and the online vehicle list is updated based on the heartbeat signals. If a heartbeat signal of a vehicle cannot be collected for M consecutive times, it is determined that the corresponding vehicle has malfunctioned. When the global leader malfunctions, a new global leader is determined. When the coordinator malfunctions, a new coordinator is determined. When a vehicle in a task malfunctions, the corresponding task status is retrieved, and a new vehicle is determined to perform the task based on the task status.

[0026] Another object of the present invention is to provide a multi-vehicle cooperative operation system based on a wireless network, the system comprising:

[0027] The online vehicle list module is used to load vehicle parameters, broadcast vehicle parameters in real time, receive vehicle parameters sent by other vehicles, and generate an online vehicle list.

[0028] The global leader determination module is used to determine the global leader based on the online vehicle list. The online vehicle list contains several vehicle parameters, including vehicle ID, computing power, battery life, available load, task status, and location.

[0029] The task information sending module is used to send task information to the global leader. The task information includes task ID, starting coordinates, ending coordinates, priority, and cargo weight.

[0030] The task group determination module is used to analyze the online vehicle list and task information through the global leader to determine the task group that receives the task information. The task group contains one or more vehicle IDs.

[0031] The task path determination module is used to determine a coordinator for each task group. The coordinator decomposes the task, determines the task path for each vehicle in the task group, and sends the task path to the corresponding vehicle.

[0032] The conflict decision and avoidance module is used to share the task path with neighboring vehicles and automatically make a decision to avoid a conflict when the task path is about to conflict.

[0033] As a further aspect of the present invention, the task group determination module includes:

[0034] The comprehensive scoring calculation unit is used to calculate the load score, range score, distance score, and task status score for each online vehicle to determine the comprehensive score.

[0035] The task group determination unit is used to sort all vehicles in descending order based on the comprehensive score, and determine the top N vehicles in the sorted order based on available load and cargo weight. The top N vehicles constitute the task group.

[0036] As a further aspect of the present invention, the task path determination module includes:

[0037] The first vehicle path unit is used to determine the first vehicle in the task group whose task status is idle, and to determine the task path of the first vehicle. When the vehicle reaches the starting coordinates and needs to wait for the preceding vehicle to load, the corresponding road segment of the task path is marked with the need to wait.

[0038] The second vehicle path unit is used to determine the second vehicle with a priority of level one in the task status. Based on the route proximity, it determines whether the second vehicle should complete the remaining tasks first or go directly to the starting coordinates, and determines the task path of the second vehicle.

[0039] The third vehicle path unit is used to determine the third vehicle with a priority of level two in the task status. Based on the route proximity and detour waiting time, it determines whether the third vehicle should complete the remaining tasks first or go directly to the starting coordinates, and determines the task path of the third vehicle.

[0040] The fourth vehicle path unit is used to determine the fourth vehicle, which has a priority of level three in the task status, to determine that the fourth vehicle should complete the remaining tasks before heading to the starting coordinates, and to determine the task path of the fourth vehicle.

[0041] As a further aspect of the present invention, the conflict decision-making and avoidance module includes:

[0042] The waiting label determination unit is used to determine whether the corresponding road segment of the mission path of the vehicle that is about to have a conflict is marked as requiring waiting. Vehicles marked as requiring waiting shall decelerate and stop to avoid the conflict.

[0043] The priority determination unit is used to determine which vehicle should decelerate and stop to avoid a collision when there is no label;

[0044] The load and battery life determination unit is used to determine which vehicle should decelerate and stop to avoid a collision when there is no label and the task priorities are the same.

[0045] Compared with the prior art, the beneficial effects of the present invention are:

[0046] By establishing a global leader and assigning coordinators to task groups, a decentralized task allocation and path planning mechanism is achieved. This reduces over-reliance on a single central controller, mitigating the risk of single points of failure. Furthermore, data processing tasks are distributed among one leader and multiple coordinators, resulting in higher processing efficiency. Vehicles communicate with each other in real-time by broadcasting vehicle parameters and sharing task paths, creating a distributed information exchange model. This reduces excessive dependence on the stability of the wireless network, allowing vehicles to make local decisions based on local information and information shared with neighboring vehicles even during brief delays, packet loss, or interference. This improves the system's operational capabilities in unstable communication environments. Attached Figure Description

[0047] Figure 1 This is a flowchart of a multi-vehicle collaborative operation method based on a wireless network.

[0048] Figure 2 This is a flowchart illustrating the process of determining task groups in a multi-vehicle collaborative operation method based on a wireless network.

[0049] Figure 3 This is a flowchart illustrating the process of determining a task path in a multi-vehicle cooperative operation method based on a wireless network.

[0050] Figure 4 This is a flowchart illustrating decision-making and obstacle avoidance in a multi-vehicle cooperative operation method based on a wireless network.

[0051] Figure 5 This is a schematic diagram of a multi-vehicle collaborative operation system based on a wireless network. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0053] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0054] like Figure 1 As shown, this embodiment of the invention provides a multi-vehicle cooperative operation method based on a wireless network, the method comprising the following steps:

[0055] S100 loads vehicle parameters, broadcasts these parameters in real time, receives vehicle parameters from other vehicles, and generates an online vehicle list.

[0056] S200 determines the global leader based on the online vehicle list, which contains several vehicle parameters, including vehicle ID, computing power, battery life, available load, task status, and location.

[0057] S300 sends task information to the global leader. The task information includes task ID, starting coordinates, ending coordinates, priority, and cargo weight.

[0058] S400, through the global leader, analyzes the online vehicle list and task information to determine the task group that receives the task information, and the task group contains one or more vehicle IDs;

[0059] S500 assigns a coordinator to each task group. The coordinator breaks down the tasks, determines the task path for each vehicle in the task group, and sends the task path to the corresponding vehicle.

[0060] The S600 shares the task path with neighboring vehicles and automatically makes a decision to avoid a conflict when the task path is about to conflict.

[0061] In this embodiment of the invention, online vehicles load vehicle parameters in real time, including vehicle ID, computing power, battery life, available load, task status, and location. These parameters are broadcast. The task status is either idle or non-idle. When non-idle, the task status also includes information such as the current task's path, priority, and completion progress. Additionally, each vehicle receives vehicle parameters from other vehicles. Summarizing all vehicle parameters yields an online vehicle list. A global leader is then determined based on this list, specifically computing power. When a task is available, the management or scheduling system sends the task information to the global leader. The global leader then analyzes the online vehicle list and task information to determine the task group receiving the task information. Each task group contains one or more vehicles. A coordinator is automatically assigned to each task group. The coordinator decomposes the task, determines the task path for each vehicle in the task group, and sends the task path to the corresponding vehicle. The coordinator is first determined based on computing power. After the task path is determined, the coordinator is transferred to the vehicle that last arrives at the task's starting coordinates. This way, other vehicles can leave the task group after completing their tasks, and the coordinator leaves the task group last. By determining a global leader and assigning coordinators to task groups, a decentralized task allocation and path planning mechanism is achieved. This reduces over-reliance on a single central controller, lowering the risk of single-point failures. Even if a vehicle (leader or coordinator) fails, a new leader or coordinator can be quickly determined, ensuring the system's continuous and stable operation. Furthermore, data processing tasks are distributed among one leader and multiple coordinators, resulting in higher processing efficiency. During task execution, each vehicle shares its task path with neighboring vehicles, for example, vehicles within a 15-meter radius are designated as neighbors. When a conflict is imminent, automatic decision-making and avoidance are implemented. Vehicles can quickly adapt to dynamic changes, ensuring efficient workflow. Vehicles communicate with each other in real-time by broadcasting vehicle parameters and sharing task paths, forming a distributed information interaction model. This mode reduces the over-reliance on the stability of the wireless network to some extent. Even if there is a brief delay, packet loss or interference in the wireless network, the vehicle can make local decisions based on local information and information shared by neighboring vehicles, avoiding decision conflicts and deadlocks caused by communication problems, and improving the system's ability to operate in unstable communication environments.

[0062] like Figure 2 As shown, in a preferred embodiment of the present invention, the step of determining the task group receiving the task information specifically includes:

[0063] S401 calculates the load score, range score, distance score, and task status score for each online vehicle to determine the comprehensive score;

[0064] S402: All vehicles are sorted in descending order based on comprehensive scores. The top N vehicles in the sort are determined according to available load and cargo weight. The top N vehicles form a task group.

[0065] In this embodiment of the invention, a load score is determined based on available load, a range score based on battery life, a distance score based on vehicle location and task start point, and a task status score based on whether the vehicle is currently idle. If a vehicle has already accepted two tasks, it is not considered. Then, a comprehensive score is obtained based on the load score, range score, distance score, and task status score. Next, all vehicles are sorted in descending order based on the comprehensive score, and the top N vehicles in the sort are determined based on available load and cargo weight. These top N vehicles form a task group. For example, if the cargo weight is 20, and the available loads of the vehicles in the sort are 9, 6, 7, 5, and 8, then the first three vehicles will form a task group, with cargo loads of 9, 6, and 5 respectively. This embodiment of the invention comprehensively considers multiple parameters such as vehicle battery life and available load when determining task groups, enabling more reasonable task allocation, avoiding situations where some vehicles are overloaded while others are idle, ensuring full utilization of system resources, thereby improving overall operational efficiency and reducing operating costs.

[0066] like Figure 3 As shown, in a preferred embodiment of the present invention, the step of determining the task path for each vehicle in the task group specifically includes:

[0067] S501, determine the first vehicle in the task group whose task status is idle, determine the task path of the first vehicle, and when the vehicle reaches the starting coordinates, it needs to wait for the preceding vehicle to load the cargo, the corresponding road segment of the task path is marked with the need to wait.

[0068] S502, determine the second vehicle with priority level 1 in the task status, and determine the task path of the second vehicle based on the route proximity to complete the remaining tasks first or go directly to the starting coordinates.

[0069] S503, determine the third vehicle with priority level 2 in the task status, and determine the task path of the third vehicle based on the route proximity and detour waiting time to complete the remaining tasks first or go directly to the starting coordinates.

[0070] S504: Determine the fourth vehicle with a priority of level three in the mission status; determine that the fourth vehicle should complete the remaining tasks before proceeding to the starting coordinates; determine the mission path of the fourth vehicle; a priority of level three indicates that the mission is the most urgent.

[0071] In this embodiment of the invention, to determine the task path for each vehicle, the first vehicle in the task group with an idle task status is first identified. The task path for all first vehicles is to proceed directly from their current location to the starting coordinates. This allows for the prediction of the arrival time of each first vehicle. Then, the loading time can be predicted based on the cargo load. This allows us to determine whether a vehicle needs to wait for the preceding vehicle to load after arriving at the starting coordinates. If so, the corresponding road segment (the segment leading to the starting point) on the task path is marked as requiring waiting. The same criteria are applied to the task paths of the second, third, and fourth vehicles. Next, the second vehicle with a priority of level one in the task status is identified, and the route compatibility between the second vehicle's path to the starting coordinates and the second vehicle's path to complete the remaining tasks is calculated. When the route compatibility is greater than a route compatibility threshold, the second vehicle's path is to proceed directly to the starting coordinates. When the route compatibility is not greater than the route compatibility threshold, the second vehicle's path is to complete the remaining tasks first and then proceed to the starting coordinates. Next, the third vehicle, with a priority of level two in the task status, is determined. The third vehicle will only proceed directly to the starting coordinates if its route affinity is greater than the route affinity threshold and its detour waiting time is less than the time threshold. The detour waiting time refers to the time spent on inconvenient routes plus the time spent waiting for the preceding vehicle to load after arriving at the starting coordinates. Finally, the fourth vehicle, with a priority of level three in the task status, is determined. The fourth vehicle's task path is to complete the remaining tasks first and then proceed to the starting coordinates.

[0072] In addition, when a vehicle completes the remaining tasks before heading to the starting point, the vehicle's available load will change, and the corresponding cargo quantity will change. This means that vehicles that arrive late at the task starting point may not have cargo to load. Therefore, once the task paths of all vehicles are determined, the available load of each vehicle will be updated, and the arrival time of each vehicle at the task starting point will be predicted. This will allow us to identify which vehicles arrive without cargo to load, and these vehicles will be removed from the task group.

[0073] like Figure 4 As shown, in a preferred embodiment of the present invention, the step of automatically making decision-making and avoiding obstacles specifically includes:

[0074] S601, determine whether the corresponding road segment of the mission path of the vehicle that is about to have a conflict is marked as requiring waiting, and the vehicle marked as requiring waiting shall decelerate and stop to give way;

[0075] S602, when not marked, determines the vehicle to slow down and stop to avoid the obstacle based on task priority;

[0076] S603: When there is no label and the task priorities are the same, the vehicle that should slow down and stop to avoid the obstacle is determined based on the load weight and battery range.

[0077] In this embodiment of the invention, when two vehicles are about to collide, the corresponding road segments in the two task paths where the collision is about to occur are determined. It is then checked whether any sections are marked as requiring waiting. Vehicles marked as requiring waiting are decelerated and stopped to avoid the collision. If both sections are marked as requiring waiting, one is randomly selected to avoid the collision. If neither is marked as requiring waiting, the vehicle to decelerate and stop to avoid the collision is determined based on task priority. If neither is marked and the task priorities are the same, the vehicle to decelerate and stop to avoid the collision is determined based on load weight and battery range; the vehicle with the lower load weight and higher battery range avoids the collision.

[0078] In this embodiment of the invention, all vehicles also need to periodically broadcast heartbeat signals, and update the online vehicle list based on the heartbeat signals. If a heartbeat signal of a certain vehicle cannot be collected for M consecutive times, where M is a pre-set fixed value, it is determined that the corresponding vehicle has malfunctioned. When the global leader malfunctions, the global leader is directly re-determined. When the coordinator malfunctions, the coordinator is directly re-determined. When a vehicle in a task malfunctions, the corresponding task status is retrieved, and a new vehicle is determined to perform the task based on the task status.

[0079] like Figure 5 As shown, this embodiment of the invention also provides a multi-vehicle cooperative operation system based on a wireless network, the system comprising:

[0080] The online vehicle list module 100 is used to load vehicle parameters, broadcast vehicle parameters in real time, receive vehicle parameters sent by other vehicles, and generate an online vehicle list.

[0081] The global leader determination module 200 is used to determine the global leader based on the online vehicle list. The online vehicle list contains several vehicle parameters, including vehicle ID, computing power, battery life, available load, task status, and location.

[0082] The task information sending module 300 is used to send task information to the global leader. The task information includes task ID, starting coordinates, ending coordinates, priority, and cargo weight.

[0083] The task group determination module 400 is used to analyze the online vehicle list and task information through the global leader to determine the task group that receives the task information. The task group contains one or more vehicle IDs.

[0084] The task path determination module 500 is used to determine a coordinator for each task group. The coordinator decomposes the task, determines the task path for each vehicle in the task group, and sends the task path to the corresponding vehicle.

[0085] The conflict decision and avoidance module 600 is used to share the task path with neighboring vehicles and make automatic decision-making to avoid conflicts when the task path is about to conflict.

[0086] In a preferred embodiment of the present invention, the task group determination module 400 includes:

[0087] The comprehensive scoring calculation unit is used to calculate the load score, range score, distance score, and task status score for each online vehicle to determine the comprehensive score.

[0088] The task group determination unit is used to sort all vehicles in descending order based on the comprehensive score, and determine the top N vehicles in the sorted order based on available load and cargo weight. The top N vehicles constitute the task group.

[0089] In a preferred embodiment of the present invention, the task path determination module 500 includes:

[0090] The first vehicle path unit is used to determine the first vehicle in the task group whose task status is idle, and to determine the task path of the first vehicle. When the vehicle reaches the starting coordinates and needs to wait for the preceding vehicle to load, the corresponding road segment of the task path is marked with the need to wait.

[0091] The second vehicle path unit is used to determine the second vehicle with a priority of level one in the task status. Based on the route proximity, it determines whether the second vehicle should complete the remaining tasks first or go directly to the starting coordinates, and determines the task path of the second vehicle.

[0092] The third vehicle path unit is used to determine the third vehicle with a priority of level two in the task status. Based on the route proximity and detour waiting time, it determines whether the third vehicle should complete the remaining tasks first or go directly to the starting coordinates, and determines the task path of the third vehicle.

[0093] The fourth vehicle path unit is used to determine the fourth vehicle, which has a priority of level three in the task status, to determine that the fourth vehicle should complete the remaining tasks before heading to the starting coordinates, and to determine the task path of the fourth vehicle.

[0094] In a preferred embodiment of the present invention, the conflict decision-making and avoidance module 600 includes:

[0095] The waiting label determination unit is used to determine whether the corresponding road segment of the mission path of the vehicle that is about to have a conflict is marked as requiring waiting. Vehicles marked as requiring waiting shall decelerate and stop to avoid the conflict.

[0096] The priority determination unit is used to determine which vehicle should decelerate and stop to avoid a collision when there is no label;

[0097] The load and battery life determination unit is used to determine which vehicle should decelerate and stop to avoid a collision when there is no label and the task priorities are the same.

[0098] The above description only details the preferred embodiments of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0099] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0100] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0101] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the disclosure in the specification and embodiments. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

Claims

1. A method for multi-vehicle cooperative operation based on a wireless network, characterized in that, The method comprises the following steps: loading vehicle parameters, broadcasting vehicle parameters in real time, receiving vehicle parameters sent by other vehicles, and generating an online vehicle list; determining a global leader according to the online vehicle list, the online vehicle list comprising a plurality of vehicle parameters, the vehicle parameters comprising a vehicle ID, computing power, battery endurance, available load, task state, and position; sending task information to the global leader, the task information comprising a task ID, a starting point coordinate, an end point coordinate, a priority, and a cargo weight; analyzing the online vehicle list and the task information by the global leader to determine a task group receiving the task information, the task group comprising one or more vehicle IDs; determining a coordinator for each task group, the coordinator decomposing tasks, determining a task path for each vehicle in the task group, and sending the task path to the corresponding vehicle; sharing the task path with neighbor vehicles and automatically making a decision to avoid conflict when the task path is about to conflict; wherein the step of determining the task group receiving the task information comprises: calculating a load score, an endurance score, a distance score, and a task state score of each online vehicle to determine a comprehensive score; arranging all vehicles in descending order based on the comprehensive score, determining the first N vehicles in the arrangement based on the available load and the cargo weight, and determining the first N vehicles to form the task group; wherein the step of determining the task path for each vehicle in the task group comprises: determining a first vehicle with an idle task state in the task group, determining a task path for the first vehicle, determining a second vehicle with a priority of level one, determining a task path for the second vehicle according to the degree of on-roadness to complete the remaining tasks or directly go to the starting point coordinate, determining a third vehicle with a priority of level two, determining a task path for the third vehicle according to the degree of on-roadness and the waiting time of detour, determining a fourth vehicle with a priority of level three, and determining a task path for the fourth vehicle to complete the remaining tasks before going to the starting point coordinate. 2.The wireless network-based multi-vehicle cooperative operation method of claim 1, wherein, The step of automatically making a decision to avoid conflict comprises: determining whether the corresponding section of the task path of the vehicle about to conflict is marked with a waiting requirement, and the vehicle marked with the waiting requirement performing deceleration and stop to avoid conflict; when no mark is present, determining a vehicle to perform deceleration and stop to avoid conflict according to the task priority; when no mark is present and the task priorities are the same, determining a vehicle to perform deceleration and stop to avoid conflict according to the load weight and battery endurance. 3.The wireless network-based multi-vehicle cooperative operation method of claim 1, wherein, When determining the global leader, the computing power is determined; when determining the coordinator, the computing power is determined first, and then the coordinator is transferred to the vehicle that arrives at the starting point coordinate last after the task path is determined. 4.The wireless network-based multi-vehicle cooperative operation method of claim 1, wherein, All vehicles broadcast a heartbeat signal at regular intervals, and the online vehicle list is updated according to the heartbeat signal; when the heartbeat signal of a certain vehicle cannot be collected for M consecutive times, it is determined that the corresponding vehicle has failed. When the global leader fails, the global leader is re-determined; when the coordinator fails, the coordinator is re-determined; when a vehicle in a task fails, the corresponding task state is called, and a new vehicle is determined to execute the task according to the task state.

5. A multi-vehicle cooperative working system based on a wireless network, characterized by, The system comprises: An online vehicle list module for loading vehicle parameters, broadcasting the vehicle parameters in real time, receiving vehicle parameters sent by other vehicles, and generating an online vehicle list; A global leader determination module for determining a global leader according to the online vehicle list, wherein the online vehicle list comprises a plurality of vehicle parameters, and the vehicle parameters comprise a vehicle ID, computing power, battery endurance, available load, task state, and position; A task information sending module for sending task information to the global leader, wherein the task information comprises a task ID, a starting point coordinate, an ending point coordinate, a priority, and a cargo weight; A task group determination module for analyzing the online vehicle list and the task information through the global leader to determine a task group receiving the task information, wherein the task group comprises one or more vehicle IDs; A task path determination module for determining a coordinator for each task group, decomposing tasks by the coordinator, determining a task path for each vehicle in the task group, and sending the task path to the corresponding vehicle; A conflict decision avoidance module for sharing the task path with neighbor vehicles and automatically making a decision to avoid a conflict when the task path is about to have a conflict; The task group determination module comprises: a comprehensive score calculation unit for calculating a load score, an endurance score, a distance score, and a task state score of each online vehicle to determine a comprehensive score; and a task group determination unit for arranging all vehicles in descending order based on the comprehensive score, determining the first N vehicles in the arrangement according to the available load and the cargo weight, and constructing the task group with the first N vehicles. The task path determination module comprises: a first vehicle path unit for determining a first vehicle with an idle task state in the task group, determining a task path of the first vehicle, and marking a corresponding road section of the task path with a need to wait when the vehicle reaches the starting point coordinate and needs to wait for the previous vehicle to load; a second vehicle path unit for determining a second vehicle with a priority of level one in the task state, determining whether the second vehicle completes a remaining task first or goes directly to the starting point coordinate according to a degree of on-route, and determining a task path of the second vehicle; a third vehicle path unit for determining a third vehicle with a priority of level two in the task state, determining whether the third vehicle completes a remaining task first or goes directly to the starting point coordinate according to the degree of on-route and a waiting time for detouring, and determining a task path of the third vehicle; and a fourth vehicle path unit for determining a fourth vehicle with a priority of level three in the task state, determining whether the fourth vehicle completes a remaining task first or goes to the starting point coordinate, and determining a task path of the fourth vehicle. 6.The wireless network-based multi-vehicle cooperative working system according to claim 5, wherein, The conflict decision avoidance module comprises: A waiting mark determination unit for determining whether a corresponding road section of a task path of a vehicle about to have a conflict is marked with a need to wait, and executing deceleration and stop avoidance by the vehicle marked with the need to wait. A priority determination unit is configured to determine a vehicle to decelerate and stop to avoid when there is no marking and according to a task priority; A load endurance determination unit is configured to determine a vehicle to decelerate and stop to avoid when there is no marking, the task priority is the same, and according to a load weight and a battery endurance.

Images