A method and device for controlling the travel of a transport vehicle

Abstract

The present invention discloses a method and device for controlling the travel of a transport vehicle, and relates to the field of computer technology. A specific implementation of the method includes determining the grid points existing in the travel path of the transport vehicle based on the travel path of the transport vehicle in the road network, and obtaining the loop information corresponding to the grid points; wherein the road network is a gridded map, and the grid points represent the points of the grid; the loop information is a set of grid points constituting a circular path; when the transport vehicle travels to the previous non-loop information grid point of the loop information grid point, it is determined whether a loop congestion will be formed when the transport vehicle travels to the loop information grid point at the next moment; if so, an instruction to wait in place at the non-loop information grid point is sent to the transport vehicle, and an instruction to continue driving is sent to the transport vehicle after the loop congestion is resolved. Thus, the implementation of the present invention can solve the problem of congestion in the travel of transport vehicles.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a transport vehicle travel control method and device. Background Art

[0002] The use of intelligent equipment to transport goods is becoming increasingly popular. For example, when transporting goods, AGVs (Automated Guided Vehicles) need to travel on fixed routes and can automatically unblock when congestion occurs.

[0003] In the process of implementing the present invention, the inventors discovered that the prior art has at least the following problems:

[0004] Since the road network is likely to have a four-point dead loop when it crosses (such as Figure 1 As shown in the figure, four transport vehicles are at four adjacent locations, intersecting end to end to form a loop. Each vehicle has to go to the location of the next transport vehicle, eventually forming a four-point dead loop. Once this situation occurs, the system needs to use other complex algorithms to solve it, which is time-consuming and leads to serious traffic congestion. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a transport vehicle driving control method and device, which can solve the problem of transport vehicle driving congestion.

[0006] To achieve the above-mentioned object, according to one aspect of an embodiment of the present invention, a method for controlling the travel of a transport vehicle is provided, comprising determining, based on a travel path of the transport vehicle in a road network, grid points existing in the travel path of the transport vehicle, and obtaining loop information corresponding to the grid points; wherein the road network is a gridded map, and the grid points represent points in the grid; and the loop information is a set of grid points constituting a loop path;

[0007] When the transport vehicle travels to the previous non-loop information grid point of the loop information grid point, it is determined whether loop congestion will be formed if the transport vehicle travels to the loop information grid point at the next moment; if so, an instruction to wait at the non-loop information grid point is sent to the transport vehicle, and an instruction to continue driving is sent to the transport vehicle after the loop congestion is resolved.

[0008] Optionally, determining whether a loop congestion will occur when the transport vehicle reaches the loop information grid point at a next moment includes:

[0009] Determine whether other grid points in the loop are occupied by other transport vehicles when the transport vehicle reaches the loop information grid point at the next moment. If so, obtain the driving path of the other transport vehicles;

[0010] According to the driving paths of all transport vehicles occupying the grid points in the loop, it is determined whether all transport vehicles at the next moment still occupy the grid points in the loop. If so, it is determined that the loop is congested.

[0011] Optionally, it also includes:

[0012] Calculate the ring grid data according to the grid map to obtain loop information with a set of grid points.

[0013] Optionally, based on the driving path of the transport vehicle in the road network, including:

[0014] Obtain the starting and ending points of the transport vehicle and plan the shortest travel path for the transport vehicle;

[0015] Based on the road condition information and the shortest driving path of the grid map, the actual driving path of the transport vehicle is obtained.

[0016] In addition, according to one aspect of an embodiment of the present invention, a transport vehicle travel control device is provided, comprising an acquisition module for determining, based on a travel path of the transport vehicle in a road network, grid points in the travel path of the transport vehicle, and acquiring loop information corresponding to the grid points; wherein the road network is a gridded map, and the grid points represent points in the grid; and the loop information is a set of grid points constituting a loop path;

[0017] The processing module is used to determine whether a loop congestion will occur if the transport vehicle travels to the previous non-loop information grid point of the loop information grid point at the next moment when the transport vehicle travels to the loop information grid point; if so, an instruction to wait at the non-loop information grid point is sent to the transport vehicle, and an instruction to continue driving is sent to the transport vehicle after the loop congestion is resolved.

[0018] Optionally, the processing module determines whether a loop congestion will occur when the transport vehicle travels to the loop information grid point at the next moment, including:

[0019] Determine whether other grid points in the loop are occupied by other transport vehicles when the transport vehicle drives to the loop information grid point at the next moment. If so, obtain the driving path of the other transport vehicles;

[0020] According to the driving paths of all transport vehicles occupying the grid points in the loop, it is determined whether all transport vehicles at the next moment still occupy the grid points in the loop. If so, it is determined that the loop is congested.

[0021] Optionally, the acquisition module is further configured to:

[0022] Calculate the ring grid data according to the grid map to obtain loop information with a set of grid points.

[0023] Optionally, the acquisition module is based on the driving path of the transport vehicle in the road network, including:

[0024] Obtain the starting and ending points of the transport vehicle and plan the shortest travel path for the transport vehicle;

[0025] Based on the road condition information and the shortest driving path of the grid map, the actual driving path of the transport vehicle is obtained.

[0026] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including:

[0027] one or more processors;

[0028] a storage device for storing one or more programs,

[0029] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any of the above-mentioned transport vehicle driving control embodiments.

[0030] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, any of the above-mentioned methods based on the transport vehicle driving control embodiment is implemented.

[0031] One embodiment of the above invention has the following advantages or beneficial effects: Based on the driving path of the transport vehicle in the road network, the present invention determines the grid points existing in the driving path of the transport vehicle and obtains the loop information corresponding to the grid point. When the transport vehicle drives to the previous non-loop information grid point of the loop information grid point, it is determined whether loop congestion will be formed when the transport vehicle drives to the loop information grid point at the next moment; if so, an instruction to wait at the non-loop information grid point is sent to the transport vehicle, and an instruction to continue driving is sent to the transport vehicle after the loop congestion is resolved. Therefore, the present invention can effectively reduce the cost of transport vehicle driving control, avoid dead loop congestion during driving, reduce the repetitive work of transport vehicle driving control, and ensure the integrity of transport vehicle driving control data.

[0032] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0034] Figure 1 is a schematic diagram of a four-point dead loop according to the present invention;

[0035] Figure 2is a schematic diagram of the main process of the transport vehicle travel control method according to an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of the main process of a transport vehicle travel control method according to another embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of the main process of a transport vehicle travel control method according to yet another embodiment of the present invention;

[0038] Figure 5 is a schematic diagram of a grid map according to the present invention;

[0039] Figure 6 is a schematic diagram of main modules of a transport vehicle travel control device according to an embodiment of the present invention;

[0040] Figure 7 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;

[0041] Figure 8 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0043] Figure 2 FIG. 1 is a schematic diagram of the main process of a transport vehicle driving control method according to an embodiment of the present invention. The transport vehicle driving control method may include:

[0044] Step S201: Based on the driving path of the transport vehicle in the road network, determine the grid points existing in the driving path of the transport vehicle, and obtain the loop information corresponding to the grid points.

[0045] In an embodiment, the road network is a gridded map, where each grid represents a point, ie, a grid point. The loop information is a set of grid points that form a loop path.

[0046] Preferably, the ring grid data can be calculated according to the grid map to obtain loop information having a set of grid points.

[0047] In addition, in a reference embodiment of the present invention, the starting and ending points of all transport vehicles can be obtained for each vehicle's travel path, and the shortest travel path for the transport vehicle can be planned. Then, based on the road condition information and the shortest travel path of the grid map, the actual travel path of the transport vehicle can be obtained.

[0048] Step S202: When the transport vehicle travels to a non-loop information grid point before the loop information grid point, it is determined whether loop congestion will be formed if the transport vehicle travels to the loop information grid point at the next moment.

[0049] Preferably, when determining that a loop congestion has occurred, the following methods can be used:

[0050] If the transport vehicle reaches the loop information grid point at the next moment, determine whether other grid points in the loop are occupied by other transport vehicles. If so, obtain the travel paths of the other transport vehicles. Then, based on the travel paths of all transport vehicles occupying the grid points in the loop, determine whether all transport vehicles still occupy the grid points in the loop at the next moment. If so, determine that the loop is congested.

[0051] It is worth noting that the resulting loop congestion can also be called a dead loop, that is, each grid point in the loop is occupied by a transport vehicle, and the transport vehicles intersect end to end to form a cycle, and each transport vehicle has to go to the grid point position of the next transport vehicle, eventually forming a dead loop.

[0052] Step S203: If a loop congestion occurs, an instruction to wait at the non-loop information grid point is sent to the transport vehicle, and an instruction to continue driving is sent to the transport vehicle after the loop congestion is resolved.

[0053] In summary, the present invention, through various embodiments described above, can proactively detect the formation of a four-point loop during actual driving. By determining whether a loop is forming, the last transport vehicle can be directed to wait at the grid point immediately preceding the final four-point loop, thereby avoiding congestion caused by the four-point loop. In other words, the present invention can proactively prevent the formation of dead loops, avoid congested routes, and significantly improve transportation capacity.

[0054] Figure 3 FIG. 1 is a schematic diagram of the main process of a transport vehicle driving control method according to another embodiment of the present invention. The transport vehicle driving control method may include:

[0055] Step S301 : Calculate ring grid data according to the grid map to obtain loop information having a set of grid points.

[0056] In an embodiment, the present invention calculates ring grid data based on a grid map to obtain four-point loop information, wherein the grid map is for one-way driving.

[0057] Step S302: Based on the driving path of the transport vehicle, determine the grid points existing in the driving path of the transport vehicle.

[0058] Preferably, the starting point and end point of each transport vehicle's travel path can be obtained to plan the shortest travel path for the transport vehicle. Then, based on the road condition information and the shortest travel path of the grid map, the actual travel path of the transport vehicle is obtained.

[0059] Step S303: Acquire loop information corresponding to the grid point.

[0060] The previous grid point of the grid point does not belong to the loop information.

[0061] Step S304: When the transport vehicle reaches the previous non-loop information grid point of the loop information grid point, determine whether other grid points in the loop are occupied by other transport vehicles when the transport vehicle reaches the loop information grid point at the next moment. If so, proceed to step S305; otherwise, proceed to step S307.

[0062] Step S305 , judging whether a loop congestion can be formed according to the driving paths of all transport vehicles occupying the loop, if so, proceed to step S306 , otherwise proceed to step S307 .

[0063] In an embodiment, based on the driving paths of all transport vehicles in the occupied loop, it is determined whether the next grid point of the transport vehicle is still in the loop, that is, each grid point in the loop is occupied by a transport vehicle, and the transport vehicles intersect end to end to form a loop, and each transport vehicle has to go to the grid point position of the next transport vehicle, eventually forming a dead loop, that is, loop congestion.

[0064] Step S306: Send an instruction to the transport vehicle to wait at the non-loop information grid point, and return to step S304.

[0065] Step S307: Send a continuing driving instruction to the transport vehicle.

[0066] Figure 4 FIG. 1 is a schematic diagram of the main process of a transport vehicle driving control method according to another embodiment of the present invention. Based on a four-point loop, the transport vehicle driving control method may include:

[0067] Step S401 : Calculate the ring grid data according to the grid map to obtain four-point loop information.

[0068] In an embodiment, the present invention is based on a grid map (such as Figure 5 As shown), calculate the ring grid data and obtain the four-point loop information. Among them, the grid map is one-way driving, such as Figure 5The arrow with a direction shown in the figure is the driving direction. A four-point loop refers to a driving path including four grid points and having a ring shape (ie, a ring grid).

[0069] In addition, the grid represents the road network, and each grid represents a point. Figure 5 As shown, the first grid point from the upper left corner is defined as 10011001, and to the right are 10021001, 10031001, .... Downward 10011002, 10011003, ..... The entire road network point can be calculated. In addition, the square with only numbers represents the transport vehicle, that is Figure 5 There are 8 transport vehicles in . By calculation, we can get four-point loop 1, four-point loop 2, and four-point loop 3, and store them as a set as follows:

[0070] Four-point loop 1 = {10011003, 10021003, 10021004, 10011004};

[0071] Four-point loop 2 = {10041003, 10051003, 10051004, 10041004};

[0072] Four-point loop 3 = {10081003, 10091003, 10091004, 10081004}.

[0073] It can be seen that the obtained four-point loop information is grid set information.

[0074] Step S402: receiving the starting point and the end point of the transport vehicle, and planning the shortest travel path for the transport vehicle.

[0075] In this embodiment, the shortest travel path for the transport vehicle can be planned based on the starting point and the end point. That is, the shortest travel path is obtained based only on the starting point and the end point, without considering the transport vehicles currently traveling in the grid map. For example, the planned travel path for transport vehicle No. 8 is calculated as {10101004, 10091004, 10081004}.

[0076] Step S403: Acquire the actual driving path of the transport vehicle based on the road condition information and the shortest driving path of the grid map.

[0077] In the embodiment, the actual driving path refers to the driving path adjusted according to the road condition information when the planned shortest driving path is actually issued. Preferably, the actual driving path of the transport vehicle can be obtained using a path planning application (such as various map applications).

[0078] Step S404: determining the grid points in the four-point loop information existing in the actual driving path of the transport vehicle.

[0079] For example, the actual driving path of transport vehicle No. 8 is {10101004, 10091004}, and the grid point in the existing four-point loop information is 10091004.

[0080] Step S405: Acquire the four-point loop information corresponding to the grid point, wherein the previous grid point of the grid point does not belong to the four-point loop information.

[0081] For example: based on the grid point 10091004, find the ring 3 point set = {10081003, 10091003, 10091004, 10081004}.

[0082] Step S406, when the transport vehicle travels to the previous non-loop information grid point of the loop information grid point, determine whether the other three grid points in the four-point loop are occupied when the transport vehicle travels to the loop information grid point. If so, proceed to step S407, otherwise proceed to step S409.

[0083] Preferably, based on the road condition information of the grid map, that is, based on the transport vehicles traveling on the grid map, it is possible to determine whether each grid point in the four-point loop (except the grid point occupied by the transport vehicle) is occupied by the transport vehicle, and save the actual driving paths of other transport vehicles occupying the grid points.

[0084] For example: Figure 5 As shown, the grid points of Ring 3 are traversed in turn to see if there are any transport vehicles occupying them, excluding points 1009 and 1004. If all of them have transport vehicles, it is considered a success and the information of the three transport vehicles is saved.

[0085] Step S407 , judging whether a dead loop can be formed based on the actual driving paths of the four transport vehicles occupying the four-point loop, if so, proceed to step S408 , otherwise proceed to step S409 .

[0086] In the embodiment, based on the actual driving paths of the four transport vehicles occupying the four-point loop, it is determined whether the next driving point of the transport vehicle is still a grid point in the four-point loop. That is, the four transport vehicles are respectively in four adjacent positions, and the four transport vehicles intersect end to end to form a loop. Each transport vehicle has to go to the grid point position of the next transport vehicle, and finally a four-point dead loop is formed, that is, the loop is congested.

[0087] For example, based on the information for the four transport vehicles, it can be determined that transport vehicle #7 travels from grid point 10081004 to 10081003. Transport vehicle #5 travels from grid point 10081003 to 10091003. Transport vehicle #6 travels from 10091003 to 10091004. The planned route for transport vehicle #8 shows that it travels from grid point 10091004 to 10081004, forming a dead loop in Four-Point Loop 3.

[0088] Step S408: Send an instruction to the transport vehicle to wait at the non-loop information grid point, and return to step S406.

[0089] For example: Transport vehicle No. 8 is waiting at location 10081003.

[0090] Step S409: Sending a continuing driving instruction to the transport vehicle.

[0091] For example: Figure 5 As shown, transport vehicle No. 6 can quickly pass through points 10091004. Once it passes, it will immediately notify transport vehicle No. 8 to move on, and the dead loop formed by the four points will be naturally untied.

[0092] Figure 6 FIG. 1 is a schematic diagram of the main modules of the transport vehicle travel control device according to an embodiment of the present invention. Figure 6 As shown, the transport vehicle driving control device 600 includes an acquisition module 601 and a processing module 602. The acquisition module 601 determines the grid points in the transport vehicle's driving path based on the transport vehicle's driving path in the road network, and obtains the loop information corresponding to the grid points; the road network is a gridded map, and the grid points represent the points of the grid; the loop information is a set of grid points that constitute a circular path. When the transport vehicle travels to the previous non-loop information grid point of the loop information grid point, the processing module 602 determines whether a loop congestion will occur if the transport vehicle travels to the loop information grid point at the next moment; if so, a command to wait at the non-loop information grid point is sent to the transport vehicle, and a command to continue driving is sent to the transport vehicle after the loop congestion is resolved.

[0093] Preferably, when the processing module 602 determines whether a loop congestion will occur when the transport vehicle reaches the loop information grid point at the next moment, a specific implementation process includes: determining whether other grid points in the loop are occupied by other transport vehicles when the transport vehicle reaches the loop information grid point at the next moment; if so, obtaining the travel paths of the other transport vehicles; and then, based on the travel paths of all transport vehicles occupying the grid points in the loop, determining whether all transport vehicles still occupy the grid points in the loop at the next moment; if so, determining that a loop congestion has occurred.

[0094] As a reference embodiment, the acquisition module 601 can calculate the ring grid data according to the grid map to obtain the loop information having a grid point set.

[0095] As another example, the acquisition module 601 determines, based on the vehicle's travel path, that a grid point in the loop information exists within the vehicle's travel path. The module then acquires the vehicle's starting and ending points and plans the vehicle's shortest travel path. The actual travel path of the vehicle is then acquired based on the grid map's road condition information and the shortest travel path.

[0096] It should be noted that the transport vehicle driving control method and the transport vehicle driving control device of the present invention have corresponding relationships in terms of specific implementation contents, so the repeated contents will not be described again.

[0097] Figure 7 An exemplary system architecture 700 is shown to which a method or device for controlling the travel of a transport vehicle according to an embodiment of the present invention may be applied.

[0098] like Figure 7 As shown, system architecture 700 may include terminal devices 701, 702, 703, a network 704, and a server 705. Network 704 is used to provide a medium for communication links between terminal devices 701, 702, 703 and server 705. Network 704 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0099] Users can use terminal devices 701, 702, and 703 to interact with server 705 via network 704 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 701, 702, and 703, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc. (only as examples).

[0100] The terminal devices 701 , 702 , and 703 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers.

[0101] Server 705 may be a server that provides various services, such as a backend management server (for example only) that supports shopping websites browsed by users using terminal devices 701, 702, and 703. The backend management server may analyze and process received data such as product information query requests, and feed back processing results (for example, target push information and product information—for example only) to the terminal device.

[0102] It should be noted that the transport vehicle travel control method provided in the embodiment of the present invention is generally executed by the server 705 , and accordingly, the transport vehicle travel control device is generally set in the server 705 .

[0103] It should be understood that Figure 7The number of terminal devices, networks and servers in the embodiment is merely illustrative. Any number of terminal devices, networks and servers may be provided as required.

[0104] Reference below Figure 8 , which shows a schematic structural diagram of a computer system 800 of a terminal device suitable for implementing an embodiment of the present invention. Figure 8 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0105] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the system 800 are also stored in the RAM 803. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0106] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, and the like; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 808 including a hard disk; and a communication section 809 including a network interface card such as a LAN card or a modem. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 810 as needed, so that computer programs read therefrom can be installed into the storage section 808 as needed.

[0107] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 809, and / or installed from a removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-mentioned functions defined in the system of the present invention are performed.

[0108] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0109] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] The modules described in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be provided in a processor. For example, a processor may be described as including an acquisition module and a processing module. The names of these modules do not, in some cases, limit the modules themselves.

[0111] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by a device, the device includes: based on the driving path of the transport vehicle in the road network, determining the grid points existing in the driving path of the transport vehicle, and obtaining the loop information corresponding to the grid points; wherein the road network is a grid map, and the grid points represent the points of the grid; the loop information is a set of grid points that constitute a circular path; when the transport vehicle travels to the previous non-loop information grid point of the loop information grid point, determining whether a loop congestion will be formed when the transport vehicle travels to the loop information grid point at the next moment; if so, sending an instruction to the transport vehicle to wait at the non-loop information grid point, and sending an instruction to the transport vehicle to continue driving after the loop congestion is resolved.

[0112] According to the technical solution of the embodiment of the present invention, the problem of traffic congestion of transport vehicles can be solved.

[0113] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for controlling a transport vehicle, characterized in that: include: Based on the driving path of the transport vehicle in the road network, determine the grid points existing in the driving path of the transport vehicle, and obtain the loop information corresponding to the grid points; wherein the road network is a grid map, and the grid points represent the points of the grid; the loop information is a set of grid points constituting the circular path; When a transport vehicle drives to a non-loop information grid point before a loop information grid point, it is determined whether loop congestion will be formed when the transport vehicle drives to the loop information grid point at the next moment, including: determining whether other grid points in the loop are occupied by other transport vehicles when the transport vehicle drives to the loop information grid point at the next moment, and if so, obtaining the driving paths of other transport vehicles; according to the driving paths of all transport vehicles occupying the grid points in the loop, determining whether all transport vehicles at the next moment still occupy the grid points in the loop, and if so, determining that loop congestion is formed; In response to the formation of loop congestion, an instruction to wait at the non-loop information grid point is sent to the transport vehicle, and an instruction to continue driving is sent to the transport vehicle after the loop congestion is resolved.

2. The method according to claim 1, characterized in that Also includes: Calculate the ring grid data according to the grid map to obtain the loop information with the grid point set.

3. The method according to claim 1 or 2, characterized in that: Based on the driving path of the transport vehicle in the road network, including: Obtain the starting point and end point of the transport vehicle and plan the shortest travel path for the transport vehicle; Based on the road condition information and the shortest driving path of the grid map, the actual driving path of the transport vehicle is obtained.

4. A transport vehicle driving control device, characterized in that: include: An acquisition module is used to determine the grid points existing in the driving path of the transport vehicle in the road network, and acquire the loop information corresponding to the grid points; wherein the road network is a grid map, and the grid points represent the points of the grid; and the loop information is a set of grid points constituting the circular path; A processing module is used to determine whether a loop congestion will be formed when the transport vehicle travels to the previous non-loop information grid point of the loop information grid point at the next moment when the transport vehicle travels to the loop information grid point, including: determining whether other grid points in the loop are occupied by other transport vehicles when the transport vehicle travels to the loop information grid point at the next moment, and if so, obtaining the driving paths of other transport vehicles; determining whether all transport vehicles at the next moment still occupy the grid points in the loop based on the driving paths of all transport vehicles occupying the grid points in the loop, and if so, determining that a loop congestion has been formed; in response to the formation of loop congestion, sending an instruction to the transport vehicle to wait at the non-loop information grid point, and sending an instruction to the transport vehicle to continue driving after the loop congestion is resolved.

5. The device according to claim 4, characterized in that The acquisition module is further used for: Calculate the ring grid data according to the grid map to obtain the loop information with the grid point set.

6. The device according to claim 4 or 5, characterized in that The acquisition module is based on the driving path of the transport vehicle in the road network, and includes: Obtain the starting point and end point of the transport vehicle and plan the shortest travel path for the transport vehicle; Based on the road condition information and the shortest driving path of the grid map, the actual driving path of the transport vehicle is obtained.

7. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 3.

8. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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