Vehicle dispatching method, device, equipment and medium

Abstract

The embodiments of the present application provide a vehicle dispatching method, device, equipment and medium, which belongs to the field of smart park technology and can be used in scenarios such as ports, logistics, closed parks, or urban transportation. In this method, a tractor enters a freight yard and sends a first instruction for the entire vehicle to enter the freight yard. The entire vehicle includes a tractor and a trailer. The first instruction carries the target type of goods loaded on the trailer and the first target transportation destination. Each container to be loaded and unloaded has a corresponding type of goods and a transportation destination. Therefore, a target container matching the target type and the first target transportation destination can be found, so that the target container that the tractor towing the trailer is parked at can be accurately determined, avoiding the driver from looking for the target container. The first trajectory to reach the target container can also be determined and sent to the tractor. The tractor can drive to the target container according to the first trajectory, reducing the problem of ineffective driving due to unfamiliarity with the freight yard route and improving work efficiency.

Description

Technical Field

[0001] The present application relates to the field of smart park technology, and in particular to a vehicle dispatching method, device, equipment and medium. Background Art

[0002] Within the logistics ecosystem, a tractor and trailer make up a complete vehicle. To expedite the turnover of the vehicle and reduce the time the tractor and trailer spend waiting in logistics parks or warehouses for unloading and loading, the driver typically drives the vehicle into the freight yard, parks it at a designated container, and then separates the tractor and trailer. After separation, the tractor searches for a new trailer in the freight yard, connects them, and forms a new vehicle, beginning the next leg of the journey. This improves trailer utilization.

[0003] During this process, the driver has to find out which container to park the vehicle at by exploring the road on his own, which increases the driver's driving burden and also increases the invalid driving time, resulting in low work efficiency. Summary of the Invention

[0004] The present application provides a vehicle dispatching method, apparatus, equipment and medium to solve the problems of increased ineffective driving time of tractors and low work efficiency.

[0005] In a first aspect, the present application provides a vehicle dispatching method, the method comprising:

[0006] receiving a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0007] Obtaining the type and destination of cargo corresponding to each container to be loaded or unloaded, and determining a target container that matches the target type and the first target destination;

[0008] According to the location information of the target container and the location information of the tractor, a first trajectory to reach the target container is determined and sent to the tractor, so that the tractor travels to the target container according to the first trajectory.

[0009] In a second aspect, the present application further provides a vehicle dispatching method, the method comprising:

[0010] Sending a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0011] receiving a first trajectory to a target container, the first trajectory being determined based on location information of the target container and location information of the tractor, the target container being a container that matches the target type and the first target destination, determined based on the type and destination of cargo corresponding to each container to be loaded or unloaded;

[0012] Travel to the target container according to the first trajectory.

[0013] In a third aspect, the present application further provides a vehicle dispatching device, comprising:

[0014] A receiving module, configured to receive a first instruction for a vehicle to enter a freight yard, the vehicle comprising a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0015] a determination module, configured to obtain the type and destination of cargo corresponding to each container to be loaded or unloaded, and determine a target container that matches the target type and the first target destination;

[0016] The sending module is used to determine a first trajectory to reach the target container based on the location information of the target container and the location information of the tractor, and send the first trajectory to the tractor, so that the tractor travels to the target container according to the first trajectory.

[0017] In a fourth aspect, the present application further provides a vehicle dispatching device, comprising:

[0018] A sending module, configured to send a first instruction for a vehicle to enter a freight yard, wherein the vehicle includes a tractor and a trailer, and the first instruction carries a target type of cargo loaded on the trailer and a first target transportation destination;

[0019] The receiving module is configured to receive a first trajectory for traveling to a target container, the first trajectory being determined based on the location information of the target container and the location information of the tractor, the target container being a container that matches the target type and the first target transportation destination, determined based on the type and transportation destination of the cargo corresponding to each container to be loaded or unloaded; and traveling to the target container according to the first trajectory.

[0020] In a fifth aspect, the present application also provides an electronic device, which includes at least a processor and a memory, and the processor is used to implement the steps of any of the above-mentioned vehicle scheduling methods when executing a computer program stored in the memory.

[0021] In a sixth aspect, the present application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the vehicle scheduling methods described above.

[0022] In a seventh aspect, an embodiment of the present application further provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the steps of any of the above-mentioned vehicle dispatching methods.

[0023] An embodiment of the present application provides a vehicle scheduling method, apparatus, equipment, and medium, in which a first instruction for a whole vehicle to enter a freight yard is received, the whole vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination, the type of cargo and transportation destination corresponding to each container to be loaded and unloaded are obtained, a target container matching the target type and the first target transportation destination is determined, and a first trajectory to reach the target container is determined based on the location information of the target container and the location information of the tractor and sent to the tractor, so that the tractor travels to the target container according to the first trajectory. Because in the embodiment of the present application, when the tractor enters the freight yard, a first instruction for the entire vehicle to enter the freight yard is sent. The first instruction carries the target type of goods loaded on the trailer and the first target transportation destination. Each container to be loaded and unloaded has a corresponding type of goods and a transportation destination. Therefore, the target container that matches the target type and the first target transportation destination can be found, so that the target container for the tractor towing the trailer to park can be accurately determined, avoiding the driver from looking for the target container, and the first trajectory to reach the target container can also be determined and sent to the tractor. The tractor can drive to the target container according to the first trajectory, reducing the problem of ineffective driving due to unfamiliarity with the freight yard route and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the vehicle dispatching process provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the vehicle connection process provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of driving to a waiting connection point provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of a sensing device installed on a tractor provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of the position information of the traction pin relative to the tractor provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of a freight yard environment provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of a sub-target trajectory provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of the extended sub-target trajectory provided in an embodiment of the present application;

[0032] Figure 9 A schematic diagram of the vehicle connection process provided in an embodiment of the present application;

[0033] Figure 10 A schematic diagram of the coordination relationship among the freight yard, tractor, trailer, and dispatch room provided in an embodiment of the present application;

[0034] Figure 11 A schematic diagram of the vehicle dispatching process provided in an embodiment of the present application;

[0035] Figure 12 A schematic diagram of the structure of a vehicle dispatching device provided in an embodiment of the present application;

[0036] Figure 13 A schematic diagram of the structure of a vehicle dispatching device provided in an embodiment of the present application;

[0037] Figure 14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application more clear, the technical solutions of the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0039] An embodiment of the present application provides a vehicle scheduling method, apparatus, equipment, and medium, in which a first instruction is received for a whole vehicle to enter a freight yard, the whole vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination, the type of cargo and the transportation destination corresponding to each container to be loaded and unloaded are obtained, a target container matching the target type and the first target transportation destination is determined, and a first trajectory to reach the target container is determined based on the location information of the target container and the location information of the tractor and sent to the tractor, so that the tractor travels to the target container according to the first trajectory. Because in the embodiment of the present application, when the tractor enters the freight yard, a first instruction for the entire vehicle to enter the freight yard is sent. The first instruction carries the target type of goods loaded on the trailer and the first target transportation destination. Each container to be loaded and unloaded has a corresponding type of goods and a transportation destination. Therefore, the target container that matches the target type and the first target transportation destination can be found, so that the target container for the tractor towing the trailer to park can be accurately determined, avoiding the driver from looking for the target container, and the first trajectory to reach the target container can also be determined and sent to the tractor. The tractor can drive to the target container according to the first trajectory, reducing the problem of ineffective driving due to unfamiliarity with the freight yard route and improving work efficiency.

[0040] Example 1: Figure 1 A schematic diagram of the vehicle dispatching process provided in an embodiment of the present application, which specifically includes the following steps:

[0041] S101: Receive a first instruction for a complete vehicle to enter a freight yard, where the complete vehicle includes a tractor and a trailer, and the first instruction carries the target type of cargo loaded on the trailer and a first target transportation destination.

[0042] The vehicle dispatching process provided in the embodiment of the present application is applicable to electronic devices, which may be servers, PCs, and other devices.

[0043] To improve the efficiency of tractors in freight yards and ensure orderly cargo transfers, electronic devices can receive a first instruction for the entire vehicle to enter the freight yard. Specifically, the tractor and trailer send a first instruction to the electronic device before entering the freight yard. This electronic device can be installed in the yard's dispatch room. The tractor driver can send the first instruction to the electronic device using a telematics box (T-BOX). Alternatively, the tractor can proactively send the first instruction, using its positioning capabilities to determine its current location and monitor the distance between the current location and the intended freight yard in real time. When the distance falls below a preset threshold, the first instruction is sent to the electronic device.

[0044] In order to determine the target container for the trailer to be parked based on the received first instruction, the first instruction may carry the target type of cargo loaded on the trailer and the first target transportation destination, wherein the target type and the first target transportation destination are marked on the trailer when the cargo is loaded. The target type can be any of ordinary express delivery, cold chain cargo, emergency allocation materials, and daily supply materials. The first target transportation destination can be the province, city, or residential area where the cargo loaded on the trailer will be transported, or it can be an identifier corresponding to a certain location, wherein the identifier can be a pre-defined number corresponding to the location, or it can be the latitude and longitude information of the location.

[0045] S102: Obtain the type of goods and the transportation destination corresponding to each container to be loaded or unloaded, and determine a target container that matches the target type and the first target transportation destination.

[0046] In an embodiment of the present application, the type of cargo and the destination of transportation corresponding to each container to be loaded or unloaded can be obtained. The type of cargo corresponding to a container can be one or more, and the destination of transportation can be one or more. Generally, each container corresponds to one type of cargo and one destination of transportation. The type of cargo and the destination of transportation corresponding to the container are marked when the container is loaded with cargo. The electronic device can obtain the type of cargo and the destination of transportation corresponding to each container at preset time intervals.

[0047] In order to save resources and ensure the timeliness of cargo transportation, in an embodiment of the present application, a container that matches the target type and the first target transportation destination can be determined as the target container, that is, the same type of cargo at the same target transportation destination can be loaded into the same container.

[0048] If the type and destination of the cargo corresponding to a container are consistent with the target type and destination, the container can be determined as the target container. If the province or city of the destination of the cargo corresponding to a container is consistent with the target destination, and the type of cargo is also consistent with the target type, the container can also be determined as the target container. In this embodiment of the application, the target container can also be determined by performing optimal matching based on the Hungarian algorithm, which is a combinatorial optimization algorithm for solving task allocation problems.

[0049] In an embodiment of the present application, the usage status of each container in the cargo yard can also be obtained in real time. In order to facilitate the management of the cargo yard, generally, before loading and unloading the cargo, the staff will fill in the information of the cargo to be loaded, such as the source of the cargo, that is, the place of shipment, and the time to start loading and unloading the cargo. Therefore, the electronic device can also regularly obtain the cargo loading and unloading completion time of each container in the cargo yard, so as to determine whether the container is the container to be loaded with cargo, and can also obtain the source of the cargo in each container, so as to facilitate more accurate task allocation and facilitate the users of the electronic device to clearly understand the status of the cargo yard.

[0050] In order to ensure the accuracy of vehicle scheduling, in an embodiment of the present application, a determined target container can be output, and the user of the electronic device can determine whether the target container is reasonable. If the user of the electronic device believes that the target container is not reasonably determined, the target container can be modified according to actual needs.

[0051] S103: Determine a first trajectory to reach the target container based on the location information of the target container and the location information of the tractor, and send the trajectory to the tractor, so that the tractor drives to the target container according to the first trajectory.

[0052] Since freight yards are typically large, housing hundreds or even thousands of containers, even if a target container is identified, inefficient travel may occur due to a lack of knowledge of how to reach it. Therefore, to improve efficiency, in an embodiment of the present application, a first trajectory to the target container can be determined based on the target container's location information and the tractor's current location information. This first trajectory can be determined based on a pre-configured route planning algorithm. Since container location information is generally fixed, and the target container has been identified before the vehicle arrives at the freight yard entrance, in the implementation of the present application, a trajectory from the freight yard entrance to each container can also be pre-set and saved to an electronic device.

[0053] In an embodiment of the present application, the determined first trajectory may be sent to a tractor, so that the tractor travels to a target container according to the first trajectory.

[0054] In an embodiment of the present application, the current location information of each tractor and trailer in the freight yard can also be obtained in real time, and the obtained location information can be displayed on a map of the freight yard and updated in real time on the map of the freight yard.

[0055] Specifically, in an embodiment of the present application, the electronic device can send an instruction to obtain the current position to each tractor or trailer in the freight yard at a preset time interval, where the preset time interval can be any time interval such as 5 seconds, 10 seconds, 1 minute, etc. When the current position information of each tractor or trailer is received, the corresponding identification of the tractor or trailer can be obtained for each tractor and each trailer, where the identification can be a numerical value automatically assigned when the tractor or trailer enters the freight yard, or it can be the license plate number of the tractor or trailer. According to the identification corresponding to the tractor or trailer, the original position corresponding to the identification is searched in the already drawn map, the original position is virtualized or directly deleted, and the tractor or trailer is re-identified at the position corresponding to the received current position information in the map.

[0056] Because in the embodiment of the present application, when the tractor enters the freight yard, a first instruction for the entire vehicle to enter the freight yard is sent. The entire vehicle includes a tractor and a trailer. The first instruction carries the target type of goods loaded on the trailer and the first target transportation destination. Each container for loading and unloading goods corresponds to the type of goods and the transportation destination. Therefore, the target container that matches the target type and the first target transportation destination can be found, so that the target container for the tractor towing the trailer to park can be accurately determined, avoiding the driver from looking for the target container, and the first trajectory to reach the target container can also be determined and sent to the tractor. The tractor can drive to the target container according to the first trajectory, reducing the problem of ineffective driving due to unfamiliarity with the freight yard route and improving work efficiency.

[0057] Example 2: In order to further improve work efficiency, based on the above embodiment, in the embodiment of the present application, the method further includes:

[0058] Upon receiving a second instruction that the tractor has completed unloading the trailer, determining the priority of the cargo loaded on each trailer to be connected, and determining the trailer to be connected with the highest priority as the target trailer;

[0059] According to the position information of the target trailer and the position information of the target container, a second trajectory to reach the target trailer is determined and sent to the tractor, so that the tractor travels to the target trailer according to the second trajectory.

[0060] After the tractor unloads the trailer and searches for a new trailer, connects with the new trailer, and leaves the freight yard, in order to further improve work efficiency, in an embodiment of the present application, upon receiving a second instruction indicating that the tractor has completed unloading the trailer, the priority of the cargo loaded on each trailer to be connected can be determined, and the trailer to be connected with the highest priority can be determined as the target trailer. Since the types of cargo loaded in each trailer are pre-stored, in an embodiment of the present application, the priority corresponding to each type of cargo can be stored. For example, cold chain cargo has a higher priority than ordinary express delivery, and emergency materials have a higher priority than daily supply materials. Materials with higher priorities need to be transported first.

[0061] In order to improve work efficiency, in an embodiment of the present application, a second trajectory to reach the target trailer can be determined based on the position information of the target trailer and the position information of the target container.

[0062] Specifically, the second trajectory may be determined based on a pre-configured route planning algorithm. In the embodiment of the present application, the determined second trajectory may be sent to the tractor so that the tractor travels to the target trailer according to the second trajectory.

[0063] Example 3: In order to further improve work efficiency, based on the above embodiments, in the embodiment of the present application, the method further includes:

[0064] Obtaining a second target transportation destination for the cargo loaded on the target trailer;

[0065] Determining the target shipping exit location corresponding to the second target transportation destination based on the pre-stored correspondence between the transportation destination and the shipping exit location;

[0066] When the target shipping exit location satisfies the queuing condition, an indication message of queuing at the target shipping exit location is sent to the tractor.

[0067] To improve work efficiency, in an embodiment of the present application, a second target destination for the cargo loaded on the target trailer can be obtained. The second target destination is the destination to which the cargo loaded on the target trailer will be transported. The second target destination can be marked on the target trailer when the cargo is loaded, sent to an electronic device when marked and stored by the electronic device, or fed back by an electronic device responsible for storing information on the target trailer when receiving the instruction to obtain the second target destination.

[0068] In an embodiment of the present application, the target shipping exit position corresponding to the second target transportation destination can be determined based on the pre-saved correspondence between the transportation destination and the shipping exit position, that is, it is determined at which position in the freight yard the entire vehicle consisting of the target trailer will depart.

[0069] When the target shipping exit location satisfies the queuing condition, an indication message of queuing at the target shipping exit location may be sent to the tractor.

[0070] In order to further improve work efficiency, based on the above embodiments, in the embodiments of the present application, the queuing conditions include: the number of vehicles queuing at the target shipping exit location does not exceed the set number threshold; or the shipping time corresponding to the target shipping exit location has not been reached.

[0071] When the number of vehicles queuing at the target shipping exit location does not exceed the set threshold, an indication message of queuing at the target shipping exit location can be sent to the tractor, or when the shipping time corresponding to the target shipping exit location has not been reached, an indication message of queuing at the target shipping exit location can also be sent to the tractor.

[0072] Specifically, assuming that the quantity threshold is set to 5, after determining the target shipping exit location corresponding to the second target transportation destination, the number of vehicles already queued at the target shipping exit location can be obtained. If the obtained number of vehicles already queued is 3, an instruction message indicating that the tractor has arrived at the target shipping exit location to queue up can be sent. After determining the target shipping exit location corresponding to the second target transportation destination, the current time and the shipping time corresponding to the target shipping exit location can also be obtained. Assuming that the shipping time corresponding to the target shipping exit location is 21:15:00 on March 2, 2022, and the current time is 21:13:00 on March 2, 2022, an instruction message indicating that the tractor has arrived at the target shipping exit location to queue up can be sent. The difference between the shipping time corresponding to the target shipping exit location and the current time can also be calculated, and it can be determined whether the difference is greater than the preset time threshold. Assuming that the preset time threshold is 15 minutes, the shipping time corresponding to the target shipping exit location is 21:15:00 on March 2, 2022, and the current time is 21:10:00 on March 2, 2022. The difference between the shipping time corresponding to the target shipping exit location and the current time is 5 minutes. Since 5 minutes is less than the preset time threshold of 15 minutes, the queuing conditions are not met.

[0073] Vehicles bound for the same destination are parked in the same area within the freight yard. When leaving the yard to transport goods, drivers can assist each other because all vehicles parked in the area are bound for the same destination. Before departure, each vehicle parked at the target shipping exit corresponding to the second destination can be platooned. This platooning reduces air resistance, fuel consumption, and operational efficiency.

[0074] Example 4: To ensure vehicle driving safety, based on the above embodiments, in this embodiment of the present application, the first instruction also carries the duration of the tractor's current continuous driving. Before determining the priority of the cargo loaded on each trailer to be connected, the method further includes:

[0075] If the duration of the continuous driving is not greater than the preset duration threshold, the subsequent step of determining the priority corresponding to the cargo loaded on each trailer to be connected is continued; otherwise, a prompt message is sent to the tractor indicating that the transportation task cannot be continued.

[0076] In an embodiment of the present application, in order to ensure the safety of life and property, after the tractor completes unloading the trailer, before determining the priority corresponding to the cargo loaded on each trailer to be connected, it is also necessary to determine whether the driver is in a fatigue driving state. Therefore, the first instruction also carries the duration of the tractor's continuous driving this time. The duration of the tractor's continuous driving this time represents the duration of the driver's continuous driving of the tractor this time. If the duration of this continuous driving is not greater than the preset duration threshold, the subsequent steps of determining the priority corresponding to the cargo loaded on each trailer to be connected can be continued. Otherwise, it can be considered that the driver is in a fatigue driving state, and a prompt message is sent to the tractor that it cannot continue to perform the transportation task.

[0077] Specifically, assuming that the preset time threshold is 3 hours, if the duration of this continuous driving carried in the first instruction is 3.5 hours, it can be considered that the driver is in a fatigue driving state, and a prompt message is sent to the tractor that it cannot continue to perform the transportation task, and the target trailer is no longer determined for the tractor.

[0078] Example 5: Figure 2 A schematic diagram of the vehicle dispatching process provided in an embodiment of the present application, which specifically includes the following steps:

[0079] S201: Send a first instruction for a whole vehicle to enter a freight yard, wherein the whole vehicle includes a tractor and a trailer, and the first instruction carries the target type of cargo loaded on the trailer and the first target transportation destination.

[0080] The vehicle dispatching process provided in the embodiment of the present application is applicable to tractors.

[0081] To improve work efficiency, before a full truck enters the freight yard, a first instruction can be sent. This allows the electronic device to determine the target container based on the target type of cargo loaded on the trailer and the first target destination, as well as the actual loading and unloading conditions of the containers at the freight yard. The target type of cargo loaded on the trailer and the first target destination, as contained in the first instruction, can be independently input by the tractor driver.

[0082] S202: Receive a first trajectory to a target container, where the first trajectory is determined based on the location information of the target container and the location information of the tractor. The target container is determined based on the type and transportation destination of the cargo corresponding to each container to be loaded or unloaded, and matches the target type and the first target transportation destination.

[0083] To unload the trailer from the tractor, in an embodiment of the present application, the electronic device determines the target container based on the type and destination of the cargo corresponding to each container to be loaded or unloaded, as well as the target type and first destination carried in the first instruction. The electronic device then determines a first trajectory based on the location information of the target container and the location information of the tractor, and transmits the first trajectory to the tractor. The tractor then receives the first trajectory and drives to the target container. The process of determining the first trajectory and the target container has been described in detail in the above embodiments and will not be repeated here.

[0084] S203: Travel to the target container according to the first trajectory.

[0085] The tractor can tow the trailer to the target container according to the first trajectory. Specifically, after the tractor receives the first trajectory, the driver of the tractor can drive to the target container according to the route specified in the first trajectory, or the tractor can drive to the target container according to the route specified in the first trajectory based on unmanned driving technology.

[0086] In the embodiment of the present application, before entering the freight yard, a first instruction is sent to notify the freight yard of the entire vehicle entering the freight yard, and a first trajectory for traveling to the target container is received. The vehicle travels to the target container according to the first trajectory, thereby reducing the problem of ineffective driving due to unfamiliarity with the freight yard route, thereby improving work efficiency.

[0087] Example 6: In order to further improve the efficiency of the work, based on the above embodiment, in the embodiment of the present application, the method further includes:

[0088] Sending a second instruction indicating that unloading of the trailer by the tractor is completed;

[0089] receiving a second trajectory to a target trailer, the second trajectory being determined based on the location information of the target trailer and the location information of the target container, the target trailer being the trailer with the highest priority determined based on the priorities of the cargoes loaded on each of the target trailers;

[0090] The vehicle travels to the target trailer according to the second trajectory.

[0091] In order to further improve work efficiency, after the tractor completes unloading the trailer, a second instruction can be sent to indicate that the tractor has completed unloading the trailer, so that the electronic device can determine the target container according to the priority corresponding to the cargo loaded on each trailer to be connected.

[0092] To ensure that the tractor can connect with the target trailer, in an embodiment of the present application, the electronic device determines the target trailer based on the priority of the cargo loaded on each trailer to be connected, determines a second trajectory based on the location information of the target trailer and the location information of the target container, and transmits the second trajectory to the tractor. The tractor can receive the second trajectory and travel to the target trailer. The process of determining the second trajectory and the target trailer has been described in detail in the above embodiments and will not be repeated here.

[0093] The tractor can drive to the target trailer according to the second trajectory. Specifically, after the tractor receives the second trajectory, the driver of the tractor can drive to the target trailer according to the route specified in the second trajectory, or the tractor can drive to the target trailer according to the route specified in the second trajectory based on unmanned driving technology.

[0094] In the embodiment of the present application, after the tractor completes unloading the trailer, it sends a second instruction to notify the freight yard that the tractor has completed unloading the trailer, waits for the freight yard to determine the target trailer, and receives a second trajectory to travel to the target trailer. The tractor travels to the target trailer according to the second trajectory, which reduces the problem of ineffective driving due to unfamiliarity with the freight yard route, thereby improving work efficiency.

[0095] Example 7: To further improve work efficiency, based on the above embodiments, in this embodiment of the present application, the step of traveling to the target trailer according to the second trajectory includes:

[0096] Driving according to the second trajectory to the waiting connection position corresponding to the target trailer;

[0097] Determining position information of the towing pin of the target trailer relative to the tractor, and determining each candidate trajectory of the saddle hole position of the tractor reaching the position information;

[0098] For each candidate trajectory, each first preset position of the candidate trajectory is obtained. If no obstacles exist in the adjacent area of each first preset position, or if the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, the candidate trajectory is determined to be a target candidate trajectory; the target candidate trajectory is divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, with any two sub-target trajectories being non-adjacent. For each sub-target trajectory, the sub-target trajectory is extended by a preset length along the tangent direction of the end of the sub-target trajectory; and based on the clothoid curve Clothoid algorithm, each extended sub-target trajectory is connected to obtain the target trajectory;

[0099] Travel to the traction pin position based on any one of the target trajectories.

[0100] In order to further improve the efficiency of the work in the embodiment of the present application, after receiving the second trajectory of traveling to the target trailer, the vehicle can travel to the waiting connection point corresponding to the target trailer according to the second trajectory and wait for connection with the target trailer.

[0101] Specifically, Figure 3 A schematic diagram of driving to a waiting connection point provided in an embodiment of the present application is shown. As shown in the figure, the target trailer is parked in a garage, and the tractor drives from position A to position B, where position B is the waiting connection point corresponding to the target trailer. For the convenience of description, the straight line formed by the front and rear of the vehicle can be defined as the X direction of the vehicle. Then, when the tractor drives to the waiting connection point, the X direction of the tractor is perpendicular to the X direction of the target trailer.

[0102] In an embodiment of the present application, the tractor is pre-installed with multiple image acquisition devices and radar devices on its exterior to sense changes in the surrounding environment. Of course, other sensing devices may also be installed to better sense the surrounding environment and the distances to various reference objects, and this is not a limitation in this embodiment of the present application. While the tractor is traveling along the second trajectory to the corresponding waiting point for the target trailer, it can acquire the position of the target trailer. The position of the tow pin on the target trailer is generally fixed. After the tractor reaches the waiting point for the target trailer, the position of the target trailer relative to the tractor can be determined based on the radar and image acquisition devices. Therefore, the position of the tow pin of the target trailer relative to the tractor can be determined.

[0103] Specifically, Figure 4 A schematic diagram of a sensing device installed on a tractor provided in an embodiment of the present application, such as Figure 4As shown, sensing devices are installed in multiple locations of the tractor, including long-range millimeter-wave radar, medium- and short-range millimeter-wave radar, namely corner radar, long-range lidar, telephoto camera, medium-focus camera, wide-angle camera, rear-view medium-focus camera, side-view wide-angle camera, driver monitoring camera, smart camera and T-Box.

[0104] Figure 5 The schematic diagram of the position information of the traction pin relative to the tractor provided in the embodiment of the present application is as follows: Figure 5 As shown, during the process of the tractor traveling from position A to position B, the distance between the tractor and various reference objects in the adjacent area can be collected based on the radar equipment and the image acquisition equipment. Since the position of the target trailer can be determined based on the second trajectory and the size of the garage is generally fixed, the relative position of the target trailer in the garage can be determined when the tractor travels to the target trailer. The distance between the tractor and various boundary lines of the garage can also be obtained based on the radar equipment and the image acquisition equipment. Therefore, the position information of the towing pin of the target trailer relative to the tractor can also be determined.

[0105] Since the position of the tractor's saddle hole and the target trailer's tow pin are known, candidate trajectories from the tractor's saddle hole to the tow pin can be determined. A candidate trajectory can be any arbitrary curve connecting the saddle hole and the tow pin. Preferably, the saddle hole and tow pin can be represented in a coordinate system. For example, point A represents the tow pin position, and point B represents the saddle hole position. When determining the candidate trajectory, these two points can be smoothly connected.

[0106] Since there is a great deal of randomness in determining the candidate trajectory, and the vehicle is limited by the minimum turning radius, and the vehicle's steering system is also limited by the maximum turning angle capability, in order to determine the target trajectory and ensure the safe driving of the vehicle, in an embodiment of the present application, for each candidate trajectory, each first preset position of the candidate trajectory can be obtained to determine whether there is an obstacle in the adjacent area of the first preset position, or whether the distance between the obstacle and the candidate trajectory can ensure normal driving of the vehicle. The first preset position can be one or more preset distances from the starting point of the candidate trajectory, and the preset distance can be 0.5m or 1m, which is not limited in the embodiment of the present application. The first preset position can also be a position predetermined according to the actual environmental conditions of the freight yard, which is not limited in the embodiment of the present application.

[0107] In an embodiment of the present application, images captured by various image acquisition devices installed on the tractor can be obtained, and based on image recognition technology, it can be determined whether there is an obstacle in each acquired image. The distances between the images captured by various radar devices installed on the tractor and other objects can also be obtained. For each acquired distance, if the distance is less than a preset distance threshold, it is considered that there is an obstacle at the position corresponding to the distance.

[0108] In addition, in the embodiment of the present application, the obstacles can be other vehicles parked in the vicinity of the target trailer and tractor, or buildings built in the vicinity of the target trailer and tractor. In order to standardize the management of vehicles in the freight yard, the obstacles can also be the various boundary lines of the garage.

[0109] When there are no obstacles in the adjacent area of the first preset position, or when the distance to the obstacle is less than a preset distance threshold, the candidate trajectory can be determined as the target candidate trajectory.

[0110] Specifically, the national standard for tractor-trailer coupling requires that, after the tractor-trailer coupling is complete, the height difference between the tractor's saddle hole and the trailer's towing pin must not exceed 3 cm, and the difference in the vehicle's Y direction must not exceed 4 cm. During the coupling process, if the trailer is fully loaded, the X-direction of the tractor must not differ from the trailer's X-direction by more than 5°. If the trailer is unloaded, the difference must not exceed 7°. This requires the system to accurately control the vehicle's position to ultimately meet these requirements.

[0111] Figure 6 The cargo yard environment diagram provided in the embodiment of this application is as follows: Figure 6 As shown in the figure, the ego vehicle, represented by the rectangle HFGK, represents the tractor that will be connecting to the trailer. Points A, B, C, and D are the boundary points of the obstacles on both sides of the target trailer. A straight line O is drawn perpendicular to the target trailer through the tow pin. The side obstacle boundary line Q represents the boundary outline of the outer obstacle. To meet the national standard for tractor-trailer connection, the tractor's centerline must overlap with line O. A 4 cm deviation from line O in the vehicle's Y direction is permitted.

[0112] At the same time, while the vehicle is moving, it must ensure that the edge of the vehicle, FG, does not intersect or overlap with line segment AB. To ensure that the driver can open the door at any time, the distance between FG and AB must be no less than 50 cm. Furthermore, HK and CD must not intersect or overlap. For sufficient safety, the distance between HK and CD must be no less than 30 cm. While moving, the vehicle must not only pay attention to the distance to the target trailer but also observe the surrounding situation. Therefore, HK should not intersect or overlap with line Q. For safety, the minimum distance must be no less than 30 cm.

[0113] In an embodiment of the present application, images and obstacles in the vicinity of the tractor and trailer collected by the sensing device can also be obtained, the obtained images and obstacles can be displayed on the map, and an inaccessible area can be set at a preset position. If the candidate trajectory does not appear in the inaccessible area, the candidate trajectory is determined to be the target candidate trajectory.

[0114] As the vehicle moves, the steering system constantly controls the steering wheel to adjust the Y direction and ultimately reach the tow pin. In these positions, not only can candidate target trajectories be determined based on whether the distance to the obstacle is less than a preset distance threshold, but circles can also be used to indicate no-entry areas. Based on driving experience, the vehicle's trajectory is also an arc, so ensuring that the arc and the circle do not intersect or intersect is sufficient.

[0115] Due to the characteristics of a tractor's long power response time, high torque, and low steering system transmission efficiency, the determined target candidate trajectory may not meet the actual driving characteristics of the tractor. Therefore, in this embodiment of the application, each candidate trajectory can be divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, and no two sub-target trajectories are adjacent. When dividing the candidate trajectory, there is no limit on the number of trajectory segments or the path length of each trajectory segment. It is worth noting that the preset number should be less than the number of trajectory segments.

[0116] Specifically, Figure 7 The schematic diagram of the sub-target trajectory provided in the embodiment of the present application assumes that the preset number is 3, such as Figure 7 As shown, line segment a, line segment b, and line segment c are the obtained preset number of sub-target trajectories, where line segment a is not adjacent to line segment b, line segment a is not adjacent to line segment c, and line segment b is not adjacent to line segment c.

[0117] In an embodiment of the present application, for each sub-target trajectory, the sub-target trajectory can be extended by a preset length along the tangent direction of the end segment of the sub-target trajectory, where the preset length can be a fixed length, such as 5 cm or 10 cm, or the preset length can be calculated based on the path length of the sub-target trajectory, for example, the path length of the candidate sub-target trajectory is obtained, and the product of the path length and a preset parameter is calculated, and the product is determined as the preset length, where the preset parameter can be a value less than 1, such as 0.2, 0.5, or 10%.

[0118] Specifically, Figure 8 The extended sub-target trajectory diagram provided in the embodiment of the present application is as follows: Figure 8 As shown, straight line a' is a path extended by a preset length along the tangent direction of the end of sub-target trajectory a, straight line b' is a path extended by a preset length along the tangent direction of the end of sub-target trajectory b, and straight line c is a path extended by a preset length along the tangent direction of the end of sub-target trajectory c.

[0119] Since the vehicle has a minimum turning radius limit, it is necessary to smoothly connect these sub-target trajectories with different curvature radii to ensure that the vehicle can travel to the designated location along the designated path without exceeding the maximum turning angle capacity of the steering system. In the embodiment of the present application, each extended sub-target trajectory can be connected based on the Clothoid algorithm to obtain the target trajectory. For each sub-target trajectory, extending the sub-target trajectory can provide compensation for the vehicle's slow response time and optimize the transition of the vehicle's dynamic response overshoot to avoid step changes in the vehicle due to overshoot. Figure 7 As shown, connecting a` with b, and b' with c can reduce the excessive curvature change of the arcs at both ends caused by the connection. Compared with b and c and b' with c, since the curvature of b' is infinite, a smooth transition can be achieved for the connection c. However, when b and c are connected, the curvature is larger than that of b before, and the lateral change during the driving process is erratic, sometimes large and sometimes small. This not only increases the load on the vehicle, but also increases the driver's tension, and does not reduce the driver's driving burden.

[0120] The following describes the process of vehicle connection with reference to a specific embodiment. Figure 9 A schematic diagram of the vehicle connection process provided in the embodiment of the present application is shown in FIG. Figure 9 As stated, the process includes:

[0121] S901: Driving to the waiting connection position corresponding to the target trailer according to the second trajectory, and determining the environmental conditions around the target trailer through the sensing equipment of the tractor.

[0122] S902: Determine the position information of the towing pin of the target trailer relative to the towing vehicle.

[0123] S903: Determine the position information of the traction saddle hole of the tractor, and determine the target trajectory to reach the traction pin position in combination with the turning performance of the electric self-steering system of the tractor.

[0124] The driver of the tractor can monitor the surrounding situation at all times through images collected by the tractor's driver monitoring camera to avoid vehicle damage.

[0125] S904: Determine whether the tractor is traveling along the target trajectory and whether the surrounding environment has changed. If so, execute S903; otherwise, execute S905.

[0126] S905: Continue to control the vehicle until it reaches the towing pin position, and the tractor and the target trailer are automatically connected.

[0127] Example 8: The process of vehicle dispatching is described below with reference to a specific example. Figure 10 A schematic diagram of the coordination relationship between the freight yard, tractor, trailer and dispatch room provided in the embodiment of the present application is shown in FIG. Figure 10 As shown, the entire vehicle enters from the entrance of the freight yard and sends a first instruction to the cloud installed in the dispatching room, where the cloud is the electronic device responsible for vehicle dispatching.

[0128] After receiving the first instruction, the cloud determines the target container according to the type and transportation destination of each container to be loaded and unloaded, and sends the determined target container and the first trajectory to the target container to the tractor at the import location.

[0129] The tractor tows the trailer according to the first trajectory to the target container to unload the trailer, and sends a second instruction to the cloud indicating that the tractor has completed unloading the trailer.

[0130] After receiving the second instruction, the cloud determines the target trailer according to the priority of the cargo loaded on each trailer to be connected, and sends the determined target trailer and the second trajectory of reaching the target trailer to the tractor at the target container position.

[0131] The tractor drives to the target trailer position according to the second trajectory, connects with the target trailer and leaves the freight yard from the exit of the freight yard.

[0132] The following describes the process of vehicle dispatching in conjunction with another specific embodiment. Figure 11 A schematic diagram of the vehicle dispatching process provided in an embodiment of the present application is shown in FIG. Figure 11 As shown, the tractor driver is responsible for driving the tractor, and the dispatcher is responsible for monitoring the vehicle dispatch process.

[0133] First, the tractor driver notifies that he is about to enter the freight yard. Based on the freight yard information saved in the electronic device, he determines the target container where the tractor and trailer 1 will dock. Based on the target container and the current position of the tractor, he determines the first trajectory to reach the target container and sends it to the tractor. The driver drives the entire vehicle along the first trajectory to the target container and separates the tractor and trailer 1.

[0134] After the tractor receives the second trajectory to the target trailer, the tractor is driven to the waiting connection position corresponding to the target trailer according to the second trajectory based on the automatic driving technology, and is ready for connection.

[0135] According to the target trajectory, the tractor automatically connects to trailer 2 to form a new vehicle, and the driver drives the new vehicle out of the freight yard.

[0136] Example 9: Figure 12 A schematic diagram of the structure of the vehicle dispatching device provided in the embodiment of the present application is shown as follows: Figure 12 As shown, the device includes:

[0137] A receiving module 1201 is configured to receive a first instruction for a vehicle to enter a freight yard, where the vehicle includes a tractor and a trailer, and the first instruction carries a target type of cargo loaded on the trailer and a first target transportation destination;

[0138] Determination module 1202 is configured to obtain the type and destination of cargo corresponding to each container to be loaded or unloaded, determine a target container that matches the target type and the first target destination, and determine a first trajectory to reach the target container based on the location information of the target container and the location information of the tractor.

[0139] The sending module 1203 is configured to send the first trajectory to the tractor, so that the tractor drives to the target container according to the first trajectory.

[0140] In one possible implementation, the determining module 1202 is further configured to, upon receiving the second instruction that the tractor has completed unloading the trailer, determine the priority of the cargo loaded on each trailer to be connected, and determine the trailer to be connected with the highest priority as the target trailer;

[0141] The determining module 1202 is further configured to determine a second trajectory to reach the target trailer based on the location information of the target trailer and the location information of the target container;

[0142] The sending module 1203 is further configured to send the second trajectory to the tractor, so that the tractor drives to the target trailer according to the second trajectory.

[0143] In one possible implementation, the determining module 1202 is further configured to obtain a second target transportation destination for the cargo loaded on the target trailer; and determine a target shipping exit location corresponding to the second target transportation destination based on a pre-stored correspondence between transportation destinations and shipping exit locations.

[0144] The sending module 1203 is further configured to send queuing indication information of the target shipping exit location to the tractor when the target shipping exit location meets the queuing condition.

[0145] In one possible implementation, the determination module 1202 is further configured to, when the duration of the current continuous driving is not greater than a preset duration threshold, continue to execute the subsequent step of determining the priority corresponding to the cargo loaded on each trailer to be connected; otherwise, send a prompt message to the tractor indicating that the transportation task cannot be continued.

[0146] Example 10: Figure 13 A schematic diagram of the structure of the vehicle dispatching device provided in the embodiment of the present application is shown as follows: Figure 13 As shown, the device includes:

[0147] A sending module 1301 is configured to send a first instruction for a vehicle to enter a freight yard, wherein the vehicle includes a tractor and a trailer, and the first instruction carries a target type of cargo loaded on the trailer and a first target transportation destination;

[0148] Receiving module 1302 is used to receive a first trajectory for traveling to a target container, where the first trajectory is determined based on the location information of the target container and the location information of the tractor. The target container is determined based on the type and transportation destination of the cargo corresponding to each container to be loaded or unloaded, and matches the target type and the first target transportation destination; and the vehicle travels to the target container according to the first trajectory.

[0149] In a possible implementation manner, the sending module 1301 is further configured to send a second instruction indicating that the tractor has completed unloading the trailer;

[0150] The receiving module 1302 is further configured to receive a second trajectory for traveling to a target trailer, where the second trajectory is determined based on the location information of the target trailer and the location information of the target container, and the target trailer is the trailer with the highest priority determined based on the priority corresponding to the cargo loaded on each trailer to be connected; and travel to the target trailer according to the second trajectory.

[0151] In a possible implementation, the device further includes:

[0152] The control module 1303 is configured to drive to the waiting connection position corresponding to the target trailer according to the second trajectory; determine the position information of the towing pin of the target trailer relative to the towing vehicle, and determine each candidate trajectory in which the saddle hole position of the towing vehicle reaches the position information; for each candidate trajectory, obtain each first preset position of the candidate trajectory, and determine that the candidate trajectory is a target candidate trajectory when there is no obstacle in the adjacent area of each first preset position or when the distance between the candidate trajectory and the obstacle is less than a preset distance threshold; divide the target candidate trajectory into multiple sub-trajectories, and obtain a preset number of sub-target trajectories, and any two sub-target trajectories are not adjacent. For each sub-target trajectory, extend the sub-target trajectory by a preset length along the tangent direction of the end of the sub-target trajectory; based on the Clothoid curve Clothoid algorithm, connect each extended sub-target trajectory to obtain the target trajectory; and drive to the towing pin position based on any one of the target trajectories.

[0153] Embodiment 11: Based on the above embodiments, this application provides an electronic device, Figure 14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 14 As shown, it includes: a processor 1401, a communication interface 1402, a memory 1403 and a communication bus 1404, wherein the processor 1401, the communication interface 1402, and the memory 1403 communicate with each other through the communication bus 1404;

[0154] The memory 1403 stores a computer program. When the program is executed by the processor 1401, the processor 1401 performs the following steps:

[0155] receiving a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0156] Obtaining the type and destination of cargo corresponding to each container to be loaded or unloaded, and determining a target container that matches the target type and the first target destination;

[0157] According to the location information of the target container and the location information of the tractor, a first trajectory to reach the target container is determined and sent to the tractor, so that the tractor travels to the target container according to the first trajectory.

[0158] In one possible implementation, the method further includes:

[0159] Upon receiving a second instruction that the tractor has completed unloading the trailer, determining the priority of the cargo loaded on each trailer to be connected, and determining the trailer to be connected with the highest priority as the target trailer;

[0160] According to the position information of the target trailer and the position information of the target container, a second trajectory to reach the target trailer is determined and sent to the tractor, so that the tractor travels to the target trailer according to the second trajectory.

[0161] In one possible implementation, the method further includes:

[0162] Obtaining a second target transportation destination for the cargo loaded on the target trailer;

[0163] Determining the target shipping exit location corresponding to the second target transportation destination based on the pre-stored correspondence between the transportation destination and the shipping exit location;

[0164] When the target shipping exit location satisfies the queuing condition, an indication message of queuing at the target shipping exit location is sent to the tractor.

[0165] In a possible implementation, satisfying the queuing condition includes: the number of vehicles queuing at the target shipping exit location does not exceed a set threshold; or the shipping time corresponding to the target shipping exit location has not arrived.

[0166] In a possible implementation, the first instruction further carries the duration of the tractor's current continuous driving. Before determining the priority corresponding to the cargo loaded on each trailer to be connected, the method further includes:

[0167] If the duration of the continuous driving is not greater than the preset duration threshold, the subsequent step of determining the priority corresponding to the cargo loaded on each trailer to be connected is continued; otherwise, a prompt message is sent to the tractor indicating that the transportation task cannot be continued.

[0168] Since the principle of solving the problem by the above electronic device is similar to the vehicle dispatching method, the implementation of the above electronic device can refer to the above embodiment, and the repeated parts will not be repeated.

[0169] The processor 1401 may further perform the following steps:

[0170] Sending a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0171] receiving a first trajectory to a target container, the first trajectory being determined based on location information of the target container and location information of the tractor, the target container being a container that matches the target type and the first target destination, determined based on the type and destination of cargo corresponding to each container to be loaded or unloaded;

[0172] Travel to the target container according to the first trajectory.

[0173] In one possible implementation, the method further includes:

[0174] Sending a second instruction indicating that unloading of the trailer by the tractor is completed;

[0175] receiving a second trajectory to a target trailer, the second trajectory being determined based on the location information of the target trailer and the location information of the target container, the target trailer being the trailer with the highest priority determined based on the priorities of the cargoes loaded on each of the target trailers;

[0176] The vehicle travels to the target trailer according to the second trajectory.

[0177] In a possible implementation, driving to the target trailer according to the second trajectory includes:

[0178] Driving according to the second trajectory to the waiting connection position corresponding to the target trailer;

[0179] Determining position information of the towing pin of the target trailer relative to the tractor, and determining each candidate trajectory of the saddle hole position of the tractor reaching the position information;

[0180] For each candidate trajectory, each first preset position of the candidate trajectory is obtained. If no obstacles exist in the adjacent area of each first preset position, or if the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, the candidate trajectory is determined to be a target candidate trajectory; the target candidate trajectory is divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, with any two sub-target trajectories being non-adjacent. For each sub-target trajectory, the sub-target trajectory is extended by a preset length along the tangent direction of the end of the sub-target trajectory; and based on the clothoid curve Clothoid algorithm, each extended sub-target trajectory is connected to obtain the target trajectory;

[0181] Travel to the traction pin position based on any one of the target trajectories.

[0182] Since the principle of solving the problem by the above electronic device is similar to the vehicle dispatching method, the implementation of the above electronic device can refer to the above embodiment, and the repeated parts will not be repeated.

[0183] The communication bus mentioned in the above-mentioned electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but this does not mean that there is only one bus or one type of bus. The communication interface 1402 is used for communication between the above-mentioned electronic device and other devices. The memory can include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Optionally, the memory can also be at least one storage device located away from the aforementioned processor. The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processing (DSP), an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0184] Example 12: Based on the above embodiments, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by a processor. When the program runs on the processor, the processor implements the following steps when executing:

[0185] receiving a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0186] Obtaining the type and destination of cargo corresponding to each container to be loaded or unloaded, and determining a target container that matches the target type and the first target destination;

[0187] According to the location information of the target container and the location information of the tractor, a first trajectory to reach the target container is determined and sent to the tractor, so that the tractor travels to the target container according to the first trajectory.

[0188] In one possible implementation, the method further includes:

[0189] Upon receiving a second instruction that the tractor has completed unloading the trailer, determining the priority of the cargo loaded on each trailer to be connected, and determining the trailer to be connected with the highest priority as the target trailer;

[0190] According to the position information of the target trailer and the position information of the target container, a second trajectory to reach the target trailer is determined and sent to the tractor, so that the tractor travels to the target trailer according to the second trajectory.

[0191] In one possible implementation, the method further includes:

[0192] Obtaining a second target transportation destination for the cargo loaded on the target trailer;

[0193] Determining the target shipping exit location corresponding to the second target transportation destination based on the pre-stored correspondence between the transportation destination and the shipping exit location;

[0194] When the target shipping exit location satisfies the queuing condition, an indication message of queuing at the target shipping exit location is sent to the tractor.

[0195] In a possible implementation, satisfying the queuing condition includes: the number of vehicles queuing at the target shipping exit location does not exceed a set threshold; or the shipping time corresponding to the target shipping exit location has not arrived.

[0196] In a possible implementation, the first instruction further carries the duration of the tractor's current continuous driving. Before determining the priority corresponding to the cargo loaded on each trailer to be connected, the method further includes:

[0197] If the duration of the continuous driving is not greater than the preset duration threshold, the subsequent step of determining the priority corresponding to the cargo loaded on each trailer to be connected is continued; otherwise, a prompt message is sent to the tractor indicating that the transportation task cannot be continued.

[0198] Since the principle of solving the problem provided by the computer-readable medium is similar to that of the vehicle dispatching method, after the processor executes the computer program in the computer-readable medium, the steps implemented can refer to the above embodiment, and the repeated parts will not be repeated.

[0199] Example 13: Based on the above embodiments, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by a processor. When the program runs on the processor, the processor implements the following steps when executing:

[0200] Sending a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination;

[0201] receiving a first trajectory to a target container, the first trajectory being determined based on location information of the target container and location information of the tractor, the target container being a container that matches the target type and the first target destination, determined based on the type and destination of cargo corresponding to each container to be loaded or unloaded;

[0202] Travel to the target container according to the first trajectory.

[0203] In one possible implementation, the method further includes:

[0204] Sending a second instruction indicating that unloading of the trailer by the tractor is completed;

[0205] receiving a second trajectory to a target trailer, the second trajectory being determined based on the location information of the target trailer and the location information of the target container, the target trailer being the trailer with the highest priority determined based on the priorities of the cargoes loaded on each of the target trailers;

[0206] The vehicle travels to the target trailer according to the second trajectory.

[0207] In a possible implementation, driving to the target trailer according to the second trajectory includes:

[0208] Driving according to the second trajectory to the waiting connection position corresponding to the target trailer;

[0209] Determining position information of the towing pin of the target trailer relative to the tractor, and determining each candidate trajectory of the saddle hole position of the tractor reaching the position information;

[0210] For each candidate trajectory, each first preset position of the candidate trajectory is obtained. If no obstacles exist in the adjacent area of each first preset position, or if the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, the candidate trajectory is determined to be a target candidate trajectory; the target candidate trajectory is divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, with any two sub-target trajectories being non-adjacent. For each sub-target trajectory, the sub-target trajectory is extended by a preset length along the tangent direction of the end of the sub-target trajectory; and based on the clothoid curve Clothoid algorithm, each extended sub-target trajectory is connected to obtain the target trajectory;

[0211] Travel to the traction pin position based on any one of the target trajectories.

[0212] Since the principle of solving the problem provided by the computer-readable medium is similar to that of the vehicle dispatching method, after the processor executes the computer program in the computer-readable medium, the steps implemented can refer to the above embodiment, and the repeated parts will not be repeated.

[0213] Example 14: The embodiment of the present application also provides a computer program product, which, when executed by a computer, implements the steps of the vehicle scheduling method described in any of the above embodiments.

[0214] The above embodiments may be implemented in whole or in part through software, hardware, firmware, or any combination thereof, and may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions that, when loaded and executed on a computer, fully or partially generate the processes or functions described in the embodiments of the present application.

[0215] The solutions shown in the above-mentioned embodiments 1 to 14 can be used alone or combined with each other to form a complete technical solution, and the embodiments of the present application do not limit this.

[0216] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0217] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0218] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0219] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0220] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

Claims

1. A vehicle dispatching method, characterized in that: The method comprises: receiving a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination; Obtaining the type and destination of cargo corresponding to each container to be loaded or unloaded, and determining a target container that matches the target type and the first target destination; Determine a first trajectory to reach the target container based on the location information of the target container and the location information of the tractor, and send the trajectory to the tractor so that the tractor drives to the target container according to the first trajectory; Upon receiving a second instruction that the tractor has completed unloading the trailer, determining the priority of the cargo loaded on each trailer to be connected, and determining the trailer to be connected with the highest priority as the target trailer; Determine a second trajectory to reach the target trailer based on the location information of the target trailer and the location information of the target container, and send the trajectory to the tractor so that the tractor drives to the target trailer according to the second trajectory; Obtaining a second target transportation destination for the cargo loaded on the target trailer; Determining the target shipping exit location corresponding to the second target transportation destination based on the pre-stored correspondence between the transportation destination and the shipping exit location; When the target delivery exit location satisfies the queuing condition, sending an instruction message of queuing at the target delivery exit location to the tractor; The method further comprises: receiving current position information of each tractor and trailer at preset time intervals; For each tractor or trailer, obtain the identifier corresponding to the tractor or trailer, find the original location corresponding to the identifier in the drawn map, virtualize or directly delete the original location, and re-identify the tractor or trailer at the corresponding location in the map using the received current location information; The process of the tractor driving to the target trailer according to the second trajectory includes: Driving according to the second trajectory to the waiting connection position corresponding to the target trailer; Determining position information of the towing pin of the target trailer relative to the tractor, and determining each candidate trajectory of the saddle hole position of the tractor reaching the position information; For each candidate trajectory, each first preset position of the candidate trajectory is obtained. If no obstacles exist in the adjacent area of each first preset position, or the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, or the candidate trajectory does not appear in the inaccessible area, or the arc trajectory generated during the driving of the candidate trajectory does not intersect or is tangent to the circle corresponding to the inaccessible area, the candidate trajectory is determined to be a target candidate trajectory; the target candidate trajectory is divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, and any two sub-target trajectories are not adjacent. For each sub-target trajectory, the sub-target trajectory is extended by a preset length along the tangent direction of the end of the sub-target trajectory; based on the clothoid curve Clothoid algorithm, each extended sub-target trajectory is connected to obtain the target trajectory; Travel to the traction pin position based on any one of the target trajectories.

2. The method according to claim 1, wherein Meeting the queuing conditions includes: the number of vehicles queuing at the target shipping exit location does not exceed a set threshold; or the shipping time corresponding to the target shipping exit location has not arrived.

3. The method according to claim 1, wherein The first instruction also carries the duration of the tractor's current continuous driving. Before determining the priority corresponding to the cargo loaded on each trailer to be connected, the method further includes: If the duration of the continuous driving is not greater than the preset duration threshold, the subsequent step of determining the priority corresponding to the cargo loaded on each trailer to be connected is continued; otherwise, a prompt message is sent to the tractor indicating that the transportation task cannot be continued.

4. A vehicle dispatching method, characterized in that: The method comprises: Sending a first instruction for a complete vehicle to enter a freight yard, the complete vehicle including a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination; receiving a first trajectory to a target container, the first trajectory being determined based on location information of the target container and location information of the tractor, the target container being a container that matches the target type and the first target destination, determined based on the type and destination of cargo corresponding to each container to be loaded or unloaded; Driving to the target container according to the first trajectory; Sending a second instruction indicating that unloading of the trailer by the tractor is completed; receiving a second trajectory to a target trailer, the second trajectory being determined based on the location information of the target trailer and the location information of the target container, the target trailer being the trailer with the highest priority determined based on the priorities of the cargoes loaded on each of the target trailers; driving to the target trailer according to the second trajectory; Receiving indication information of a queue at a target shipping exit location, wherein the indication information is determined based on a second target transportation destination of the cargo loaded on the target trailer, and a process of determining the indication information includes: Obtaining a second target transportation destination for the cargo loaded on the target trailer; Determining the target shipping exit location corresponding to the second target transportation destination based on the pre-stored correspondence between the transportation destination and the shipping exit location; When the target delivery exit location satisfies the queuing condition, sending an instruction message of queuing at the target delivery exit location to the tractor; The current location information of the tractor and trailer is sent at a preset time interval so that the electronic device updates the location of the tractor and trailer in the map. The updating process of updating the location of the tractor and trailer in the map includes: receiving the current location information of each tractor and trailer at a preset time interval; obtaining an identifier corresponding to each tractor or trailer, searching for an original location corresponding to the identifier in a drawn map, virtualizing or directly deleting the original location, and re-identifying the tractor or trailer at the corresponding location on the map using the received current location information; Driving to the target trailer according to the second trajectory includes: Driving according to the second trajectory to the waiting connection position corresponding to the target trailer; Determining position information of the towing pin of the target trailer relative to the tractor, and determining each candidate trajectory of the saddle hole position of the tractor reaching the position information; For each candidate trajectory, each first preset position of the candidate trajectory is obtained. If no obstacles exist in the adjacent area of each first preset position, or the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, or the candidate trajectory does not appear in the inaccessible area, or the arc trajectory generated during the driving of the candidate trajectory does not intersect or is tangent to the circle corresponding to the inaccessible area, the candidate trajectory is determined to be a target candidate trajectory; the target candidate trajectory is divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, and any two sub-target trajectories are not adjacent. For each sub-target trajectory, the sub-target trajectory is extended by a preset length along the tangent direction of the end of the sub-target trajectory; based on the clothoid curve Clothoid algorithm, each extended sub-target trajectory is connected to obtain the target trajectory; Travel to the traction pin position based on any one of the target trajectories.

5. A vehicle dispatching device, characterized in that: The device comprises: A receiving module, configured to receive a first instruction for a vehicle to enter a freight yard, the vehicle comprising a tractor and a trailer, the first instruction carrying a target type of cargo loaded on the trailer and a first target transportation destination; a determination module configured to obtain the type and destination of cargo corresponding to each container to be loaded or unloaded, determine a target container that matches the target type and the first target destination, and determine a first trajectory to reach the target container based on the location information of the target container and the location information of the tractor; A sending module, configured to send the first trajectory to the tractor, so that the tractor drives to the target container according to the first trajectory; The determining module is further configured to, upon receiving a second instruction from the tractor indicating completion of unloading the trailer, determine a priority level corresponding to the cargo loaded on each trailer to be connected, determine the trailer to be connected with the highest priority level as the target trailer, and determine a second trajectory to reach the target trailer based on the location information of the target trailer and the location information of the target container; The sending module is further configured to send a message to the tractor, so that the tractor drives to the target trailer according to the second trajectory; The determination module is further configured to obtain a second target transport destination for the cargo loaded on the target trailer; and determine a target shipping exit location corresponding to the second target transport destination based on a pre-stored correspondence between transport destinations and shipping exit locations; The sending module is further configured to send, to the tractor, an indication message of queuing at the target shipping exit location when the target shipping exit location satisfies a queuing condition; The receiving module is further configured to receive current position information of each tractor and trailer at preset time intervals; The determination module is further configured to receive current location information of each tractor and trailer at preset time intervals; obtain an identifier corresponding to each tractor or trailer, search for an original location corresponding to the identifier in a drawn map, virtualize or directly delete the original location, and re-identify the tractor or trailer at a corresponding location on the map using the received current location information; The process of the tractor driving to the target trailer according to the second trajectory includes: Driving according to the second trajectory to the waiting connection position corresponding to the target trailer; Determining position information of the towing pin of the target trailer relative to the tractor, and determining each candidate trajectory of the saddle hole position of the tractor reaching the position information; For each candidate trajectory, each first preset position of the candidate trajectory is obtained. If no obstacles exist in the adjacent area of each first preset position, or the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, or the candidate trajectory does not appear in the inaccessible area, or the arc trajectory generated during the driving of the candidate trajectory does not intersect or is tangent to the circle corresponding to the inaccessible area, the candidate trajectory is determined to be a target candidate trajectory; the target candidate trajectory is divided into multiple sub-trajectories, and a preset number of sub-target trajectories are obtained, and any two sub-target trajectories are not adjacent. For each sub-target trajectory, the sub-target trajectory is extended by a preset length along the tangent direction of the end of the sub-target trajectory; based on the clothoid curve Clothoid algorithm, each extended sub-target trajectory is connected to obtain the target trajectory; Travel to the traction pin position based on any one of the target trajectories.

6. A vehicle dispatching device, characterized in that: The device comprises: A sending module, configured to send a first instruction for a vehicle to enter a freight yard, wherein the vehicle includes a tractor and a trailer, and the first instruction carries a target type of cargo loaded on the trailer and a first target transportation destination; a receiving module configured to receive a first trajectory for traveling to a target container, the first trajectory being determined based on location information of the target container and location information of the tractor, the target container being a container that matches the target type and the first target destination, determined based on the type and destination of the cargo corresponding to each container to be loaded or unloaded; and traveling to the target container according to the first trajectory; The sending module is further configured to send a second instruction that the tractor has completed unloading the trailer; The receiving module is further configured to receive a second trajectory for traveling to a target trailer, the second trajectory being determined based on the location information of the target trailer and the location information of the target container, the target trailer being the trailer with the highest priority determined based on the priorities of the cargo loaded on each trailer to be connected; and traveling to the target trailer according to the second trajectory; The receiving module is further configured to receive indication information of a queue at a target shipping exit location, wherein the indication information is determined based on a second target transportation destination of the cargo loaded on the target trailer, and a process of determining the indication information includes: Obtaining a second target transportation destination for the cargo loaded on the target trailer; Determining the target shipping exit location corresponding to the second target transportation destination based on the pre-stored correspondence between the transportation destination and the shipping exit location; When the target delivery exit location satisfies the queuing condition, sending an instruction message of queuing at the target delivery exit location to the tractor; The sending module is further configured to send the current location information of the tractor and trailer at a preset time interval, so that the electronic device updates the location of the tractor and trailer in the map. The updating process of updating the location of the tractor and trailer in the map includes: receiving the current location information of each tractor and trailer at a preset time interval; obtaining an identifier corresponding to each tractor or trailer, searching for an original location corresponding to the identifier in a drawn map, virtualizing or directly deleting the original location, and re-identifying the tractor or trailer at the corresponding location on the map using the received current location information; A control module is configured to travel to a waiting connection point corresponding to the target trailer according to the second trajectory; determine position information of the target trailer's towing pin relative to the towing vehicle, and determine each candidate trajectory in which the saddle hole position of the towing vehicle reaches the position information; for each candidate trajectory, obtain each first preset position of the candidate trajectory, and determine that the candidate trajectory is a target candidate trajectory if no obstacles exist in the adjacent area of each first preset position, or the distance between the candidate trajectory and the obstacle is less than a preset distance threshold, or the candidate trajectory does not appear in an inaccessible area, or the arc trajectory generated during travel along the candidate trajectory does not intersect or is tangent to the circle corresponding to the inaccessible area; divide the target candidate trajectory into multiple sub-trajectories, and obtain a preset number of sub-target trajectories, with any two sub-target trajectories not adjacent to each other, and for each sub-target trajectory, extend the sub-target trajectory by a preset length along the tangent direction of the end of the sub-target trajectory; connect each extended sub-target trajectory based on a clothoid curve Clothoid algorithm to obtain a target trajectory; and travel to the towing pin position based on any one of the target trajectories.

7. An electronic device, characterized in that: The electronic device includes at least a processor and a memory, and the processor is used to implement the steps of the vehicle scheduling method described in any one of claims 1 to 3 or the steps of the vehicle scheduling method described in claim 4 when executing the computer program stored in the memory.

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