Traffic flow management and control method for port unmanned driving and manned driving mixed passing

Abstract

The invention discloses a traffic flow management and control method for port unmanned driving and manned driving mixed passing, which relates to the technical field of road traffic and comprises the steps of constructing an orthogonal road network and establishing a plane intersection, managing and controlling storage yard traffic based on storage yard road layout and standardizing driving behaviors of automatic driving container trucks at nodes. And the traffic control of the mixed vehicles is completed. According to the invention, safe, orderly and efficient operation of unmanned container trucks and manned container trucks in a complex storage yard environment is effectively realized, the path conflict risk of two types of vehicles at key nodes such as intersections and box area entrances and exits is obviously reduced, and the road traffic efficiency and the operation safety are improved; the turning space utilization of a large container truck is optimized, traffic blocking caused by insufficient turning radius is reduced, and efficient operation and sustainable development of an intelligent port are powerfully supported.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road traffic, in particular to a traffic flow management and control method for port unmanned driving and manned driving mixed traffic. BACKGROUND

[0002] With the continuous improvement of port automation level, unmanned container trucks are increasingly widely used in the port yard, and port container transportation operations are rapidly developing towards intelligence and unmanned driving. At the same time, due to the stage characteristics of automation transformation, a large number of traditional manned container trucks are still operating at the same time, resulting in the increasingly common mixed traffic mode of unmanned vehicles and manned vehicles in the port yard. This mixed traffic flow not only improves the potential of operation efficiency, but also puts forward higher requirements for the traffic organization and safety management of the yard. How to realize the safe, orderly and efficient traffic of the two types of vehicles in the complex environment has become a key issue in the construction of smart ports.

[0003] In the prior art, a unified road traffic rule and a simple lane management method are generally used in the port yard, and there is a lack of fine control measures for the differences in driving characteristics, path planning and response mechanism of unmanned container trucks and manned container trucks. In particular, at key nodes such as intersection and box area entrance and exit, path conflicts of the two types of vehicles frequently occur, resulting in low traffic efficiency and safety hazards. SUMMARY

[0004] In view of the problems in the prior art traffic flow management and control method for port unmanned driving and manned driving mixed traffic, the present application is proposed.

[0005] Therefore, the problem to be solved by the present application is how to effectively alleviate the path conflicts at the intersection and the box area entrance and exit, and realize the safe cooperation and efficient traffic of the two types of vehicles through fine road layout, special lane setting and node traffic rules in the environment of mixed traffic of unmanned container trucks and manned container trucks in the port yard.

[0006] To solve the above technical problems, the present application provides the following technical solutions: In a first aspect, the present application provides a traffic flow management and control method for port unmanned driving and manned driving mixed traffic, which comprises: constructing an orthogonal road network and establishing a plane intersection, a box area production operation channel is connected with the orthogonal road network through a box area opening, and the yard road layout is completed; based on the yard road layout, the yard traffic is managed and controlled, which comprises lane division, intersection channelization and traffic regulation; the driving behavior of the automatic driving container truck at the node is regulated, and the mixed traffic vehicle traffic control is completed, which comprises identifying the automatic driving container truck special lane, identifying the automatic driving container truck turning management and identifying the mixed traffic control.

[0007] As a preferred scheme of the traffic flow management method for port unmanned and manned mixed traffic, wherein: the orthogonal road network comprises a meridian road perpendicular to the wharf shore and a parallel road parallel to the wharf shore, and the meridian road and the parallel road form a plane intersection; The connection of the box area production operation channel to the orthogonal road network through the box area opening refers to the connection of the box area production operation channel to the meridian road through the box area opening; The box area production operation channel is used for the single-direction entry of the truck vehicle into the box area, and is a channel for vehicle driving and parking for loading and unloading operation, and is not used as a channel for vehicle traffic, and the truck vehicle passes through the box area channel to the operation position and stops at the operation position to perform container loading and unloading operation; The width of the box area production operation channel is 4.4m, and at this time, the plane intersection part of the box area production operation channel and the meridian road is the road section box area opening.

[0008] As a preferred scheme of the traffic flow management method for port unmanned and manned mixed traffic, wherein: the lane division refers to that the width of the vehicle lane of the yard parallel road and the meridian road is not less than 3.75m, and a protective isolation facility is arranged at the road edge; The distance between the road edge to the opposite road edge is the width value of the standard section of the meridian and parallel roads, and a 0.9m side curb is reserved outside the road edge line, and isolation facilities such as isolation piers, anti-collision guardrails, anti-collision water horses or warning stakes are arranged in the side curb to ensure the safety of vehicles and box areas; Warning stakes or traffic signs are arranged at the box area opening of the meridian road, and at this time, it reminds the vehicle to pay attention to whether there is a vehicle driving out of the box area; No non-motor vehicle lane and pedestrian lane is arranged, and pedestrians and non-motor vehicles are prohibited from passing through the road; The intersection channelization refers to that the use of the yard box area needs to be ensured, and the traffic organization optimization of the import and export lanes is performed in the form of traffic markings without physical widening.

[0009] As a preferred scheme of the traffic flow management method for port unmanned and manned mixed traffic, wherein: the traffic organization optimization of the import and export lanes in the form of traffic markings comprises arranging traffic signal lights at the intersection in the yard, and the traffic signal lights are used to observe the space within the range of the lane edge line of the road which cannot be intruded; When the yard road is in the production operation channel, at this time, the traffic signal lights are not used to process the test area plane transportation operation in the production operation channel, and the transportation logistics organization is optimized, the vehicle driving path is adjusted, and the behavior of turning or left turning at the intersection is reduced for processing; The traffic regulation comprises truck vehicle traffic requirements, following distance or speed management.

[0010] As a preferred scheme of the traffic flow management and control method for port unmanned and manned mixed traffic, wherein: the external truck vehicle traffic requirement refers to that the external truck vehicle is prohibited to drive into the first parallel road near the port side except for the permission of the management department, at this time the external truck vehicle should drive away from the stockyard area in the counterclockwise trajectory direction; The following distance includes that the truck vehicle should maintain a safe following distance from the front vehicle when driving on the road in the stockyard area, at this time, when the speed is above 25 km / h, the following distance is above 20 m; The speed management includes that the vehicle driving on the road in the stockyard area should maintain a safe vehicle speed, and the vehicle includes a car and a truck vehicle; The speed management of the car includes that the speed on the road should not exceed 40 km / h, the speed on the wharf should not exceed 30 km / h, and the speed when passing through the intersection or entering the container area should not exceed 15 km / h; The speed management of the truck vehicle includes the following steps: When driving on the road, the speed should not exceed 30 km / h; When driving on the wharf, the speed should not exceed 20 km / h; When turning, passing through the intersection, entering and leaving the container area, or driving on the production operation channel or in the container area production operation channel, the speed should not exceed 15 km / h.

[0011] As a preferred scheme of the traffic flow management and control method for port unmanned and manned mixed traffic, wherein: the node for regulating the driving behavior of the automatic driving truck at the node includes the intersection and the container area entrance and exit; The regulation of the driving behavior of the automatic driving truck at the node includes the following regulations: The automatic driving truck follows the rule that the left turning vehicle gives way to the right turning vehicle when right turning at the intersection, and two right turning lanes are set in some intersections; When right turning from the inner dedicated lane, the driving track should not cross the central yellow cross line when right turning after changing to the middle lane, and the left turning track should not cross the central yellow cross line; The automatic driving truck gives way to the passing vehicle when driving out of the container area, and selects the middle lane or the dedicated lane according to the container area position; When entering the container area from the passing road, the automatic driving truck directly turns into the dedicated lane and gives way to the straight driving automatic driving truck, and if the turning radius is insufficient when right turning into the container area, the automatic driving truck drives on the opposite lane and sets a tidal lane on the opposite lane.

[0012] As a preferred scheme of the traffic flow management method for port unmanned and manned mixed traffic, wherein: the automatic driving truck special lane recognition comprises setting an automatic driving truck special lane on the yard area road, and the automatic driving truck special lane only allows automatic driving trucks to pass through; The automatic driving truck turning management recognition comprises intersection turning management, from the box area into the road management, and from the road into the box area management. The intersection turning management refers to setting two lanes allowing right turning at the intersection, and in the turning process, the automatic driving truck should execute the left turning vehicle to give way to the right turning vehicle. When the automatic driving truck turns right from the innermost type special lane to the middle type special lane, the number of changed lanes is reduced, and then the right turning is performed after changing from the innermost lane to the middle lane. When the automatic driving truck turns left at the intersection, the trajectory does not exceed the center yellow intersection line. The from the box area into the road management comprises: When the automatic driving truck drives out of the box area, the left or right turning into the special lane is performed under the condition that the road is safe, and the road passing vehicle is given way. The right turning into the special lane comprises two divisions, which comprise: When the automatic driving truck drives out of the first and second blocks of the box area on the road, and needs to turn right into the road after driving out of the box area, the automatic driving truck should directly drive into the middle lane after driving out of the box area. When the automatic driving truck drives out of the box area outside the first and second blocks of the road, and normally drives straight along the road after driving out of the box area, the automatic driving truck should enter the special lane after driving out of the box area. The from the road into the box area management comprises that the automatic driving truck directly turns into the box area from the special lane when the automatic driving truck enters the box area from the road, and the special lane is provided with a turning arrow. For the right turning automatic driving truck, when the right lane has a non-automatic driving truck right turning into the box area, the automatic driving truck needs to give way to the right vehicle, and the non-automatic driving truck refers to a conventional truck. When the automatic driving vehicle turns right into the box area from the road, and the driving direction lane does not have a right turning radius, the vehicle drives on the opposite lane to increase the turning radius. When the vehicle turns right into the box area by means of the opposite lane, the opposite lane is provided with a tidal lane. The mixed traffic management recognition comprises U-turn management, intersection giving way management, and road turning management, the U-turn management comprises simulating the U-turn trajectory by the trajectory simulation software, and providing a driving space by the right setting of the U-turn lane. The intersection yielding management refers to when a truck vehicle passes through an intersection of a longitude road and a latitude road, the latitude road passing vehicle should yield to the longitude road passing vehicle; When the automatic driving truck and the conventional truck pass through the intersection at the same time, the conventional truck should look ahead, if the automatic driving truck has entered the intersection yellow line marking area, and there is a path intersection between the two, the conventional truck should stop and yield; The longitude road turning management includes right turn into a box area and left turn into a box area, the right turn into a box area includes for a three-lane scale longitude road, the conventional truck should preferentially right turn in the middle lane, otherwise, the conventional truck should right turn in a special lane, and the right turn in the rightmost lane is prohibited; When the conventional truck finds that the automatic driving truck has a turning intention, the automatic driving truck is allowed to preferentially complete the turning action; The left turn into a box area includes that for the conventional truck which left turns into a box area from a longitude road, the conventional truck should first change lanes to the special lane of the automatic driving truck, and then left turn after using the special lane; When the box area production operation channel space cannot accommodate the whole truck vehicle body to drive in, the vehicle is prohibited to left turn or right turn in the longitude road, and at this time, the vehicle should stop and wait in the longitude road; When the vehicle is blocked to enter the box area, the vehicle should stop and wait in line, and the stopping position should be on the lane on both sides of the yellow line.

[0013] In a second aspect, an embodiment of the present application provides a traffic flow management and control system for port unmanned driving and manned driving mixed traffic, which comprises: a yard road layout module, which constructs an orthogonal road network and establishes a plane intersection, a box area production operation channel is connected with the orthogonal road network through a box area opening, and yard road layout is completed; a yard traffic management and control module, which manages and controls yard traffic based on the yard road layout, and the management and control of the yard traffic comprises lane division, intersection channelization and traffic regulation; and a mixed traffic vehicle traffic management and control module, which standardizes the driving behavior of the automatic driving truck at a node, and completes mixed traffic vehicle traffic management and control, and the mixed traffic vehicle traffic management and control comprises identifying an automatic driving truck special lane, identifying automatic driving truck turning management and identifying mixed traffic control.

[0014] In a third aspect, an embodiment of the present application provides a computer device, which comprises a memory and a processor, and the memory stores a computer program, wherein: the processor implements any step of the traffic flow management and control method for port unmanned driving and manned driving mixed traffic when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, wherein: the computer program is executed by a processor to implement any step of the traffic flow management and control method for port unmanned driving and manned driving mixed traffic.

[0016] The application has the advantages that: the application effectively realizes the safe, orderly and efficient operation of the unmanned truck and the manned truck in the complex environment of the yard by constructing the orthogonal road network composed of the longitude and latitude roads, setting the automatic driving truck special lane and formulating the fine traffic control strategy including the intersection double right turn lane, the right turn lane left setting, the U-turn lane right setting, the special lane hierarchical setting and the mixed traffic yielding rule, the application significantly reduces the path conflict risk of the two types of vehicles at the key nodes such as the intersection and the container area entrance, improves the road traffic efficiency and the operation safety; through the differentiated lane organization and the turning path design, the turning space utilization of the large truck is optimized, and the traffic obstruction caused by the insufficient turning radius is reduced; at the same time, the priority of the automatic driving truck and the conventional truck in the mixed traffic scene is determined, the predictability and the operation stability of the man-machine cooperation are enhanced, a systematic solution for the scientific control of the mixed traffic flow of the port yard is provided, and the efficient operation and the sustainable development of the intelligent port are effectively supported. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor. Among them: Figure 1 A flow chart of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the application.

[0018] Figure 2 A system schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the application.

[0019] Figure 3 A container yard layout schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the application.

[0020] Figure 4 A longitude and latitude section schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the application.

[0021] Figure 5 A longitude and latitude road side strip schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the application.

[0022] Figure 6A road intersection schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0023] Figure 7 An external truck vehicle passing schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0024] Figure 8 A road section automatic driving truck special lane setting schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0025] Figure 9 An intersection automatic driving truck special lane setting schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0026] Figure 10 An intersection double right turning lane setting schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0027] Figure 11 An intersection double right turning lane setting schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0028] Figure 12 An automatic driving truck right turning at intersection schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0029] Figure 13 An automatic driving truck left turning at intersection schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0030] Figure 14 An automatic driving truck turning into a road from a container area schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0031] Figure 15 An automatic driving truck right turning and driving into a road schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0032] Figure 16 An automatic driving truck right turning and driving into a road schematic diagram of a traffic flow control method for port unmanned driving and manned driving mixed traffic provided by the embodiment of the present application.

[0033] Figure 17 A turning radius schematic diagram (left side) and an automatic driving truck from the left turn into the container area schematic diagram (right side) of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0034] Figure 18 A turning radius schematic diagram (left side) and an automatic driving truck from the left turn into the container area schematic diagram (right side) of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0035] Figure 19 A tidal lane setting schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0036] Figure 20 A U-turn vehicle trajectory and lane setting schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0037] Figure 21 A special situation U-turn lane setting schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0038] Figure 22 A vehicle yielding rule schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0039] Figure 23 An automatic driving truck and conventional truck yielding rule schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0040] Figure 24 A crossroad double right turn lane setting schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0041] Figure 25 A right turn radius schematic diagram (left side) and a right turn lane left setting schematic diagram (right side) of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0042] Figure 26 A right turn vehicle yielding schematic diagram of a traffic flow management method for port unmanned driving and manned driving mixed traffic provided by an embodiment of the application.

[0043] Figure 27A conventional truck left turn driving into a container area schematic diagram for a port unmanned driving and manned driving mixed traffic flow control method provided by the embodiment of the present application.

[0044] Figure 28 A conventional truck driving into a container area schematic diagram for a port unmanned driving and manned driving mixed traffic flow control method provided by the embodiment of the present application. DETAILED DESCRIPTION

[0045] To make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0046] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in other ways different from those described herein without departing from the spirit and scope of the present application, and those skilled in the art can make similar extensions without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0047] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment that excludes other embodiments.

[0048] The present application is described in detail in conjunction with the schematic diagram. In the detailed description of the embodiments of the present application, the cross-sectional view of the device structure is partially enlarged without general proportion for the convenience of description, and the schematic diagram is only an example, which should not limit the scope of protection of the present application herein. In addition, three-dimensional spatial dimensions of length, width and depth should be included in actual manufacture.

[0049] Meanwhile, in the description of the present application, it should be noted that the terms "up, down, in and out" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first, second or third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0050] Unless otherwise defined, the terms "mounting, connecting, associating" in the present application should be interpreted broadly, for example: it can be fixed connection, detachable connection or integral connection; it can also be mechanical connection, electrical connection or direct connection, it can also be indirectly connected through intermediate medium, or it can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. Embodiments

[0051] Reference Figures 1-28 For the first embodiment of the present application, the embodiment provides a traffic flow control method for port unmanned and manned mixed traffic, comprising: S1: constructing an orthogonal road network and establishing a plane intersection, the container area production operation channel is connected with the orthogonal road network through the container area opening, and the yard road layout is completed.

[0052] Among them, the construction of the orthogonal road network includes the use of the meridian line perpendicular to the wharf shoreline and the parallel line parallel to the wharf shoreline, and the meridian line and the parallel line form a plane intersection; The container area production operation channel is connected with the orthogonal road network through the container area opening, which means that the container area production operation channel is connected with the meridian line through the container area opening; The container area production operation channel is used for the single-direction entry of truck vehicles into the container area, and is used as a channel for vehicle driving and parking for loading and unloading operation, and is not used as a channel for vehicle traffic, the truck vehicles pass through the container area channel to the operation position, and stop at the operation position to perform container loading and unloading operation; The width of the container area production operation channel is 4.4m, and the plane intersection part of the container area production operation channel and the meridian line is the road section container area opening.

[0053] Further, the yard freight channel perpendicular to the wharf shoreline direction of the meridian line and the yard parallel line perpendicular intersection is the main connection channel for the entry and exit of container vehicles into the container area.

[0054] The yard main freight road parallel to the wharf shoreline direction of the parallel line is usually a parallel road between each other, which is the main scheduling channel for conventional trucks and intelligent cloud-controlled trucks to and from each container area.

[0055] The container area production operation channel is used for the single-direction entry of various truck vehicles into the container area, and is used as a channel for vehicle driving and parking for loading and unloading operation, and is not used as a main channel for vehicle traffic, the truck vehicles can pass through the container area channel to the designated operation position (bay), and stop at the designated operation position (bay) to perform container loading and unloading operation.

[0056] The width of the container area production operation channel is generally 4.4m, and the plane intersection part of the container area production operation channel and the meridian line is the road section container area opening.

[0057] The width of the production operation channel of the box area is set to 4.4 meters, which is determined based on the actual needs of port container operation and the safety margin of vehicle passing. The width is mainly designed according to the size of the standard container (usually 2.44 meters wide) and the space required for the driving and parking operation of the truck in the channel: on the one hand, it is necessary to ensure that a truck loaded with a container can safely pass through the channel, and enough clearance distance is reserved between the body sides and the adjacent container stacks to avoid scratching; on the other hand, considering the operation range and safety operation space of loading and unloading machinery (such as tire crane, rail crane) in the box area, the width of 4.4 meters can meet the requirements of single truck passing and safety limit requirements of equipment operation. In addition, while ensuring the operation efficiency, the intensive use of land resources is realized, so it is determined as the standard width of the production operation channel of the box area.

[0058] S2: Based on the layout of the yard road, the yard traffic is controlled, which includes lane division, intersection channelization and traffic regulations.

[0059] Among them, the lane division refers to that the width of the carriageway of the latitude and longitude roads is not less than 3.75m, and protective isolation facilities are set at the road edge; The distance between the road edge and the opposite road edge is the width value of the standard section of the longitude and latitude roads, and a 0.9m side curb is reserved outside the road edge line, and isolation facilities such as isolation piers, anti-collision guardrails, anti-collision water stops or warning stakes are set in the side curb to ensure the safety of vehicles and box areas; Warning stakes or traffic signs are set at the box area opening of the longitude road, at this time, reminding vehicles to pay attention to whether there is a vehicle driving out of the box area; No non-motor vehicle lane and pedestrian sidewalk is set, and pedestrians and non-motor vehicles are prohibited from passing through the road; The intersection channelization refers to the traffic organization optimization of the import and export lanes through the form of traffic marking to ensure the use needs of the yard box area without physical widening.

[0060] Preferably, the 3.75-meter-wide carriageway, 0.9-meter-wide side curb, and intersection channelization by traffic markings in the above technical solutions are determined based on the operation characteristics, safety protection requirements, and site utilization efficiency of the port truck vehicles. The carriageway width is not less than 3.75 meters, which is determined by referring to the body width (about 2.5 meters) of a large container truck (about 16 meters in length), the dynamic envelope requirements such as lateral swing and passing safety distance during driving, and the actual operation conditions of the terminal, which can ensure the safe passage of vehicles and also consider the utilization rate of road resources. The 0.9-meter-wide side curb provides the necessary installation space for protective facilities such as bollards, crash barriers, crash water stops, or warning posts while ensuring the stability of the road edge structure. The intersection is channelized by traffic markings rather than physically widened, which is based on the realistic constraints of the tight site of the yard and the dense layout of the container area. The traffic organization optimization by traffic markings realizes the functional partitioning and path optimization of the import and export lanes, avoids large-scale civil engineering reconstruction, and improves the flexibility of traffic organization. The above parameters jointly constitute the design standards for the road section and intersection that adapt to the high-intensity and high-safety operation requirements of the port.

[0061] S2.1: The traffic organization optimization of the import and export lanes by traffic markings includes setting traffic signal lights at the intersections in the yard. The traffic signal lights are used to observe the space within the lane edge line range that cannot be intruded; When the yard road is in the production operation channel, at this time, the traffic signal lights are not used to process the test area flat transportation operation in the production operation channel, which is processed by optimizing the transportation logistics organization, adjusting the vehicle driving path, and reducing the intersection turning or left turning behavior; The traffic regulations include the requirements for the external truck vehicles, the following distance, and the speed management.

[0062] S2.2: The requirements for the external truck vehicles mean that the external truck vehicles are prohibited to enter the first latitudinal road close to the terminal side without permission from the management department, at which time the external truck vehicles should drive away from the yard area in the counterclockwise trajectory direction; The following distance includes the safe following distance of the truck vehicles on the yard area road, at which time the following distance is more than 20 meters when the speed is more than 25 kilometers per hour; The speed management includes keeping the safe vehicle speed of the vehicles on the yard area road, including cars and truck vehicles; The speed management of the cars includes that the speed on the road should not be more than 40 kilometers per hour, the speed on the terminal face should not be more than 30 kilometers per hour, and the speed when passing through the intersection or entering the container area should not be more than 15 kilometers per hour; The speed management of the container truck includes the following steps: When driving on the road, the speed shall not exceed 30 kilometers per hour; When driving on the wharf face, the speed shall not exceed 20 kilometers per hour; When driving in the turning, passing through the intersection, entering and leaving the container area, or in the container area production operation channel, the speed shall not exceed 15 km / h.

[0063] Preferably, the speed and following distance parameters in the above technical solution are determined based on the actual operation environment of the port, the running characteristics of the vehicle, and the long-term operation safety experience. The maximum speed limit of the container truck on the main road of the yard is 30 kilometers per hour, and the speed limit of the car is 40 kilometers per hour. This setting takes into account the transportation efficiency and road safety, ensuring smooth traffic of vehicles while ensuring that the driver and the automatic driving system have enough time to respond to unexpected situations. The speed limit of the container truck is reduced to 20 kilometers per hour and the speed limit of the car is reduced to 30 kilometers per hour in the port area due to the proximity to the ship operation area, the dense surrounding equipment, and the frequent operation activities, in order to reduce the risk of operation and improve the overall operation safety. In complex scenarios such as turning, passing through the intersection, entering and leaving the container area, and driving in the container area production operation channel, the speed limit is uniformly set to 15 kilometers per hour. Because these areas are compact in space, the line of sight is easily blocked, and there are often mechanical and vehicle cross operations, low-speed driving helps to improve the control accuracy and ensure the safety of operation coordination. The following distance requirement is 20 meters or more when the speed is 25 kilometers or more. Based on the braking performance of the container truck under different load conditions and actual stopping distance, the safety distance is summarized based on a large amount of field test and operation data to ensure that the vehicle can stop smoothly in an emergency and avoid rear-end collisions. The first latitudinal road near the port is prohibited for external container trucks, and it is stipulated that they shall leave the yard in a counterclockwise trajectory in order to avoid external vehicles entering the core operation area, causing flow cross and congestion. By separating the traffic paths of internal and external container trucks, the overall traffic organization is optimized, and the continuity and efficiency of the port front operation are improved. These parameters collectively build a fine speed and spacing control system that is divided by scenario, vehicle type, and region, effectively supporting safe and efficient operation in a mixed traffic environment.

[0064] S3: regulating the driving behavior of the automatic driving container truck at the node, completing the mixed traffic vehicle traffic control, which includes identifying the automatic driving container truck exclusive lane, identifying the automatic driving container truck turning management, and identifying the mixed traffic control.

[0065] Among them, the node for regulating the driving behavior of the automatic driving container truck includes the intersection and the container area entrance and exit; Regulating the driving behavior of the automatic driving container truck at the node includes the following specifications: The automatic driving truck follows the rule of left-turn vehicles giving way to right-turn vehicles at the intersection, and two right-turn lanes are set up at some intersections; When turning right from the inner dedicated lane, the truck changes lanes to the middle lane and then turns right. When turning left, the trajectory should not cross the center yellow cross line. When the automatic driving truck exits the container area, it gives way to vehicles on the road and enters the middle lane or the dedicated lane according to the location of the container area; When entering the road from the container area, the truck directly turns into the dedicated lane and gives way to the automatic driving truck driving straight. When turning right into the container area, if the turning radius is insufficient, the truck will drive on the opposite lane and set up a tidal lane on the opposite lane.

[0066] S3.1: Identify the automatic driving truck dedicated lane, which includes setting up the automatic driving truck dedicated lane on the yard area road. At this time, the automatic driving truck dedicated lane only allows automatic driving trucks to pass through the lane; Identify the automatic driving truck turning management, which includes intersection turning management, entering the road from the container area management, and turning into the container area from the road management; Intersection turning management refers to setting up two right-turn lanes at the intersection. During the turning process, the automatic driving truck should follow the rule of left-turn vehicles giving way to right-turn vehicles; When the automatic driving truck turns right from the innermost dedicated lane to the middle dedicated lane, the number of changed lanes is reduced, and the truck changes lanes from the innermost lane to the middle lane and then turns right; When the automatic driving truck turns left at the intersection, the trajectory should not cross the center yellow cross line; Entering the road from the container area management includes: When the automatic driving truck exits the container area, it turns left or right into the dedicated lane under safe road conditions and gives way to vehicles on the road; Turning right into the dedicated lane includes two divisions, which include: When the automatic driving truck exits the first or second block of the container area on the road and needs to turn right into the road, the truck should directly enter the middle lane after exiting the container area; When the automatic driving truck exits the container area from the first or second block outside the container area, it should enter the dedicated lane after exiting the container area; When the automatic driving truck enters the container area from the road, it directly turns into the container area from the dedicated lane, and the dedicated lane is provided with a turning arrow; For the automatic driving truck turning right, when there is a non-automatic driving truck turning right into the container area on the right lane, the automatic driving truck needs to give way to the right vehicle, which refers to a conventional truck; When the automatic driving vehicle enters the box area from the right turn of the road, and the driving direction lane does not have a right turn radius, then drive on the opposite lane to increase the turning radius; When the right turn is driven into the box area by means of the opposite lane, at this time, the opposite lane is provided with a tidal lane; The mixed traffic management and control includes U-turn management, intersection yield management and road turning management. The U-turn management includes simulating the U-turn trajectory according to the trajectory simulation software, and providing driving space by right-arranging the U-turn lane. The intersection yield management refers to when the truck vehicle passes through the intersection of the road and the latitude, the latitude passing vehicle should yield to the road passing vehicle. When the automatic driving truck and the conventional truck pass through the intersection at the same time, the conventional truck should look ahead, if it finds that the automatic driving truck has entered the intersection yellow line identification area, and there is an intersection between the two, then the conventional truck should stop and yield. The road turning management includes right turn into the box area and left turn into the box area. The right turn into the box area includes that for the three-lane scale road, the conventional truck should turn right in the middle lane, otherwise it should turn right by using the special lane, and it is prohibited to turn right into the box area in the rightmost lane. When the conventional truck finds that the automatic driving truck has the intention to turn, it should let the automatic driving truck complete the turning action first. The left turn into the box area includes that for the conventional truck which turns left into the box area from the road, it should change lane to the special lane of the automatic driving truck first, and then turn left by using the special lane. When the box area production operation channel space cannot accommodate the entire truck vehicle body to drive in, then the vehicle is prohibited to turn left or right on the road, at this time, the vehicle should stop and wait on the road. When the vehicle is blocked in the box area, it should stop and wait in line at this time, the stopping position should be on the lane on both sides of the yellow line, and the vehicles in line should stop according to the ground stop line position.

[0067] Intersection turning, due to the large proportion of right turn vehicles at some road intersections in the yard area, and the increase of the turning radius of the right turn vehicles, while avoiding the continuous lane changing of the automatic driving truck at the intersection, two lanes allowing right turn will be set at some intersections. During the turning process, whether it is an automatic driving truck or a conventional truck, it should execute the regulation that the left side turning vehicle should yield to the right side turning vehicle.

[0068] When the automatic driving truck drives out of the box area, it needs to turn left or right into the special lane under the condition of ensuring the safety of the road, and should yield to the road passing vehicle. When the automatic driving truck turns into the box area from the road, in order to ensure the necessary turning radius, it needs to directly turn into the box area from the special lane, and should yield to the straight driving conventional truck. At this time, the turning arrow can be directly set on the special lane.

[0069] For the right-turning autonomous truck, if there is a regular truck turning right into the box area on the right lane, the autonomous truck needs to yield to the right-side vehicle. When the autonomous vehicle turns right from the road into the box area, and the driving direction lane does not have sufficient right-turning radius, it needs to use the opposite lane to increase the turning radius. U-turn management: vehicles are prohibited from U-turning on the road in the yard area, and only allowed to U-turn at the intersection with a U-turn lane. When the truck U-turns at the intersection on the road in the test area, it should ensure safety and U-turn on the outermost lane. The U-turn vehicle should yield to other vehicles. Since the vehicles in the yard area are basically container trucks with a length of 16 meters, the U-turn requires a large road space, and the left-turn lane cannot meet the U-turn driving space. According to the trajectory simulation software, the right-positioned U-turn lane can provide driving space. When the truck U-turns at the intersection on the road in the yard area to the first channel of the box area, it should U-turn on the innermost lane near the central yellow line under the condition of ensuring safety, and the U-turn vehicle should yield to other vehicles. Intersection yielding: when the truck passes through the intersection of the meridian road and the latitude road, the vehicle on the latitude road should yield to the vehicle on the meridian road. Since the meridian road is the main passage in the yard area, it connects the production channel of each box area and connects the approach bridge to the terminal. The truck on the latitude road should yield to the truck on the meridian road. When the autonomous truck and the regular truck pass through the intersection at the same time, the regular truck should pay more attention. If the autonomous truck has entered the yellow line area of the intersection and the two vehicles have path intersection, the regular truck must stop and yield. Since the proportion of right-turning vehicles is large at some road intersections in the yard area, and to avoid the situation of continuous lane changing of the autonomous truck at the intersection, two right-turning lanes will be set up at some intersections. When right-turning at the same time, the outer vehicle should yield to the inner vehicle.

[0070] The meridian road turns right into the box area. Since the vehicles in the yard area are basically container trucks with a long length, the required turning radius is large. Due to the special road conditions, the meridian road and the production channel of the box area do not have the right-turning radius of the truck. Therefore, the truck can use the left-positioned right-turning lane to provide the required driving space. For the regular truck turning left into the box area from the meridian road, it needs to change lane to the dedicated lane of the autonomous truck and then turn left using the dedicated lane. During the turning process, it needs to yield to the straight vehicles and cannot affect the normal passage of the autonomous truck.

[0071] In a preferred embodiment, a traffic flow management system for port unmanned and manned mixed traffic is provided, the system comprising a yard road layout module, which constructs an orthogonal road network and establishes a planar intersection, a box area production operation channel is connected with the orthogonal road network through a box area opening to complete the yard road layout; a yard traffic management module, which manages the yard traffic based on the yard road layout, the management of the yard traffic including lane division, intersection channelization and traffic regulation; a mixed traffic vehicle traffic management module, which regulates the driving behavior of the automatic driving truck at the node to complete the mixed traffic vehicle traffic management, the mixed traffic vehicle traffic management including identifying the automatic driving truck special lane, identifying the automatic driving truck turning management and identifying the mixed traffic management.

[0072] The above-mentioned each unit module can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to call and execute the operation corresponding to each module by the processor.

[0073] In an embodiment, a computer device is provided, which can be a terminal, the computer device comprising a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is configured to communicate with external terminals in a wired or wireless manner. The wireless manner can be achieved through WIFI, operator network, NFC (near field communication) or other technologies. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device. In addition, the input device can also be an external keyboard, touchpad or mouse, etc.

[0074] To sum up, the application effectively realizes the safe, orderly and efficient operation of the unmanned tractor trailer and the manned tractor trailer in the complex environment of the yard by constructing the orthogonal road network composed of the warp and weft, setting the automatic driving tractor trailer special lane and formulating the fine traffic control strategy including the intersection double right turn lane, the right turn lane left setting, the U-turn lane right setting, the special lane hierarchical setting and the mixed traffic yielding rule. The application significantly reduces the path conflict risk of the two types of vehicles at the key nodes such as the intersection and the box area entrance and exit, improves the road traffic efficiency and the operation safety. Through the differentiated lane organization and the turning path design, the turning space utilization of the large tractor trailer is optimized, and the traffic obstruction caused by the insufficient turning radius is reduced. At the same time, the priority of the automatic driving tractor trailer and the conventional tractor trailer in the mixed traffic scene is clarified, the predictability and the operation stability of the man-machine cooperation are enhanced, a systematic solution for the scientific management and control of the mixed traffic flow of the port yard is provided, and the efficient operation and the sustainable development of the intelligent port are effectively supported.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A traffic flow management method for port unmanned and manned mixed traffic, characterized in that: The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method.

2. The traffic flow control method for port unmanned and manned mixed traffic according to claim 1, characterized in that: The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method.

3. The traffic flow control method for port unmanned and manned mixed traffic according to claim 2, characterized in that: The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method.

4. The traffic flow control method for port unmanned and manned mixed traffic according to claim 3, characterized in that: The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method.

5. The traffic flow control method for port unmanned and manned mixed traffic according to claim 4, characterized in that: The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard production operation method. The application relates to a container yard production operation channel and a container yard The speed management includes that the vehicles including cars and truck vehicles should keep a safe speed on the road in the yard area, and the speed management of the car includes that the speed on the road should not exceed 40 km / h, the speed on the wharf should not exceed 30 km / h, the speed when passing through the intersection or entering the container area should not exceed 15 km / h; The speed management of the truck vehicle includes the following steps: When driving on the road, the speed should not exceed 30 km / h; When driving on the wharf, the speed should not exceed 20 km / h; When turning, passing through the intersection, entering or leaving the container area, or driving on the production operation channel or the container area production operation channel, the speed should not exceed 15 km / h. The node for regulating the driving behavior of the automatic driving truck at the node includes the intersection and the container area entrance and exit; 6. The traffic flow control method for port unmanned and manned mixed traffic according to claim 5, characterized in that: The regulation of the driving behavior of the automatic driving truck at the node includes the following regulations: The automatic driving truck follows the rule that the left turning vehicle gives way to the right turning vehicle when right turning at the intersection, and two right turning lanes are arranged at some intersections; When right turning from the inner special lane, the automatic driving truck changes to the middle lane and then right turns, and the driving track should not cross the central yellow intersection line when left turning; When the automatic driving truck leaves the container area, it gives way to the passing vehicle on the road, and selects the middle lane or the special lane according to the position of the container area; When entering the container area from the road, the automatic driving truck directly turns into the container area from the special lane and gives way to the automatic driving truck which is straight driving, and if the turning radius is insufficient when right turning into the container area, the automatic driving truck drives on the opposite lane and sets up a tidal lane on the opposite lane. The automatic driving truck special lane is identified by arranging the automatic driving truck special lane on the road in the yard area, and the automatic driving truck special lane only allows the automatic driving truck to pass through; 7. The traffic flow control method for port unmanned and manned mixed traffic according to claim 6, characterized in that: The automatic driving truck turning management includes the intersection turning management, the management of entering the road from the container area, and the management of turning into the container area from the road; The intersection turning management refers to arranging two right turning lanes at the intersection, and the automatic driving truck should follow the rule that the left turning vehicle gives way to the right turning vehicle during the turning process; When the automatic driving truck right turns from the inner special lane to the middle special lane, the number of changed lanes is reduced, and the automatic driving truck changes to the middle lane from the innermost lane and then right turns; When the automatic driving truck left turns at the intersection, the track should not cross the central yellow intersection line; The management of entering the road from the container area includes: When the automatic driving truck leaves the container area, it left turns or right turns into the special lane under the condition that the road is safe, and gives way to the passing vehicle on the road; The right turning into the special lane includes two divisions, which include: When the automatic driving truck right turns out of the first and second blocks of the container area on the road and needs to right turn into the road after leaving the container area, the automatic driving truck should directly drive into the middle lane after leaving the container area; When the automatic driving truck right turns out of the container area outside the first and second blocks of the road and normally straight drives along the road after leaving the container area, the automatic driving truck should enter the special lane after leaving the container area; The management of turning into the container area from the road includes that the automatic driving truck directly turns into the container area from the special lane when entering the container area from the road, and the special lane is provided with a turning arrow. ​ For the right-turn automatic driving truck, when there is a non-automatic driving truck right-turning into the box area on the right lane, the automatic driving truck needs to yield to the right vehicle, and the non-automatic driving truck refers to a conventional truck; When the automatic driving vehicle right-turns into the box area from the road, and the driving direction lane does not have a right-turning radius, the vehicle drives on the opposite lane to increase the turning radius; When the vehicle right-turns into the box area by means of the opposite lane, a tidal lane is set on the opposite lane at this time; The mixed traffic management and control includes U-turn management, intersection yielding management and road turning management, the U-turn management includes simulating the U-turn trajectory according to the trajectory simulation software, and providing driving space by means of the right setting of the U-turn lane; The intersection yielding management refers to that when the truck vehicle passes through the intersection of the road and the latitude, the latitude passing vehicle should yield to the road passing vehicle; When the automatic driving truck and the conventional truck pass through the intersection at the same time, the conventional truck should look ahead, if it is found that the automatic driving truck has entered the yellow line identification area of the intersection, and there is a path intersection between the two, the conventional truck should stop and yield; The road turning management includes right-turning into the box area and left-turning into the box area, the right-turning into the box area includes that for the road of three-lane scale, the conventional truck preferentially right-turns in the middle lane, otherwise right-turns in the special lane, and is prohibited to right-turn into the box area in the rightmost lane; When the conventional truck finds that the automatic driving truck has a turning intention, the automatic driving truck is allowed to preferentially complete the turning action; The left-turning into the box area includes that for the conventional truck left-turning into the box area from the road, the truck first changes lane to the special lane of the automatic driving truck, and then left-turns after using the special lane; When the box area production operation channel space cannot accommodate the whole truck vehicle body to drive in, the vehicle is prohibited to left-turn or right-turn on the road, at this time, the vehicle stops and waits on the road; When the vehicle is blocked in the box area, the vehicle stops and waits in line, and the stopping position should be on the lane on both sides of the yellow line.

8. A traffic flow management system for mixed traffic of unmanned and manned vehicles in a port, based on the traffic flow management method for mixed traffic of unmanned and manned vehicles in a port according to any one of claims 1-7, characterized in that: It comprises, a yard road layout module which constructs an orthogonal road network and establishes a plane intersection, a box area production operation channel is connected with the orthogonal road network through a box area opening, and yard road layout is completed; a yard traffic control module which controls yard traffic based on yard road layout, and the control of yard traffic includes lane division, intersection channelization and traffic regulation; a mixed traffic vehicle traffic control module which regulates the driving behavior of the automatic driving truck at the node, and completes the mixed traffic vehicle traffic control, and the mixed traffic vehicle traffic control includes identifying the automatic driving truck special lane, identifying the automatic driving truck turning management and identifying the mixed traffic management and control. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is characterized in that: The processor executes the computer program to realize the steps of the traffic flow control method for port unmanned and manned mixed traffic of any one of claims 1-7.

10. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is executed by the processor to realize the steps of the traffic flow control method for port unmanned and manned mixed traffic of any one of claims 1-7.

Images