Navigation method, system, device and storage medium based on dynamic waiting area

Abstract

The present invention provides a navigation method, system, device and storage medium based on a dynamic waiting area, the method comprising the following steps: performing navigation planning for each vehicle based on the starting position and target position in the road network of the site area of ​​the current task, and obtaining the planned travel time of the navigation path; obtaining the longest waiting time of the vehicle in each site area at least according to the preset upper limit of the use time of the vehicle in each site area, the configured task level and the planned travel time; when the cumulative time of the vehicle in the current site area exceeds the corresponding longest waiting time, updating the target position at least based on the road network heat map; updating the navigation path according to the updated target position and the current position of the vehicle. The present invention can be applied to complex operating environments such as ports, realize the path collaborative planning between a large number of unmanned vehicles, effectively prevent the occurrence of global congestion and deadlock due to congestion and queuing in a certain operating area, and greatly improve the overall transportation efficiency of the fleet.

Description

Background Art

[0002] With the rapid development of high-tech, multiple disciplines such as advanced communications, information, and computer traffic science have been integrated and applied to improve problems in vehicle and road traffic systems. With the research on intelligent transportation systems, the ideas of vehicle navigation systems (VNS) and fleet management systems (Fleet Management Systems) came into being. The optimal path planning problem is the most basic problem in the vehicle navigation system and plays a key role. In the transportation network, optimal path planning is widely used in many aspects such as the selection of the lowest-cost transportation path, the construction and maintenance of communication lines, the analysis of transportation cargo flow, urban emergency rescue, emergency evacuation of personnel, and the planning of urban public transportation networks.

[0003] The port scene is a special semi-enclosed transportation scene. Compared with the fully enclosed scene of a logistics warehouse or a fully automated port, the so-called semi-enclosed scene is a scene in which the roads within the port may be shared by the port's internal horizontal transportation vehicles and the port's external vehicles at the same time to complete the transportation tasks. At present, in the port's horizontal transportation process, the number of vehicles is restricted in certain specific areas. For example, in the lock station area, it is usually limited to one vehicle operating at each lock station and one vehicle performing waiting tasks. Other vehicles that are about to enter the lock station are not allowed to enter the lock station area. In the quay crane area, due to safety requirements, for unmanned vehicles, only 3 to 4 vehicles are allowed to enter a specific quay crane area at a time to perform loading and unloading operations.

[0004] If there are restrictions on vehicle access in a specific area, the usual process is to let the vehicle wait in the previous area until the operation in the next area is completed before releasing the vehicle. Using such a strategy will not have much impact on efficiency in the daily operation of smaller terminals. However, for terminals with multiple berths and large depth, the time consumed by vehicles traveling between two different areas will become very serious. In order to solve this problem, how to dynamically and effectively select vehicle waiting positions in the port area is a complex open problem.

[0005] In view of this, the present invention provides a navigation method, system, device and storage medium based on a dynamic waiting area.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] In response to the problems in the prior art, the purpose of the present invention is to provide a navigation method, system, equipment and storage medium based on dynamic waiting areas, which overcomes the difficulties of the prior art and can be applied to complex operating environments such as ports to achieve collaborative path planning among a large number of unmanned vehicles, effectively preventing global congestion and deadlock caused by congestion and queuing in a certain operating area, thereby greatly improving the overall transportation efficiency of the fleet.

[0008] An embodiment of the present invention provides a navigation method based on a dynamic waiting area, comprising the following steps:

[0009] S110, performing navigation planning for each vehicle based on the starting position and target position of the current mission in the road network of the site area, and obtaining a planned travel time of the navigation path;

[0010] S120, obtaining a maximum waiting time of the vehicle in each of the venue areas based at least on a preset upper limit of the usage time of the vehicle in each of the venue areas, a configured mission level, and a planned travel time;

[0011] S130, when the accumulated time of the vehicle in the current site area exceeds the corresponding maximum waiting time, updating the target position based at least on the road network heat map;

[0012] S140: Update the navigation path according to the updated target position and the current position of the vehicle.

[0013] Preferably, the site area at least includes a traffic area and an operation area for loading and unloading, and the preset upper limit of the usage time of the traffic area is greater than the preset upper limit of the usage time of the operation area.

[0014] Preferably, in step S120, the formula for obtaining the longest waiting time t is:

[0015]

[0016] Where W is the maximum waiting time for each area;

[0017] T L is the preset mission priority level of the vehicle, T L The larger the value, the higher the task priority. L The value range of is 1 to 20;

[0018] ET is the planned travel time for each vehicle to perform the current task;

[0019] n is the total number of vehicles in the current road network;

[0020] W=P×Q, P is a weighting coefficient, the value range of P is 0.1 to 0.5, and Q is the upper limit of the preset usage time.

[0021] Preferably, the site area is a port area, and the operation areas of the port area include: a quay crane operation waiting area, a lock station operation waiting area, a yard operation waiting area, and an empty container yard operation waiting area. The preset upper limit of the use time of the quay crane operation waiting area is 8 minutes, the preset upper limit of the use time of the lock station operation waiting area is 5 minutes, the preset upper limit of the use time of the yard operation waiting area is 8 minutes, and the preset upper limit of the use time of the empty container yard operation waiting area is 8 minutes;

[0022] The traffic area of ​​the port area is a driving road area, and the preset upper limit of the usage time of the driving road area is 15 minutes.

[0023] Preferably, in step S130, when the cumulative time that the vehicle has been in the current site area exceeds the corresponding maximum waiting time, the waiting parking spaces in the road network are traversed based on the road network heat map to obtain the thermal value of the location of each parking space, and at least one waiting parking space whose thermal value is lower than a preset threshold and whose distance is lower than the preset threshold is taken as the updated target position.

[0024] Preferably, in step S130, the following steps are included:

[0025] S131, determining whether the time the vehicle has been in the current site area cumulatively exceeds the corresponding maximum waiting time, and the target position corresponding to the current task of the vehicle has not been unlocked, if so, executing step S133, if not, returning to step S131;

[0026] S133, traversing the waiting parking spaces in the road network based on the road network heat map, and obtaining the heat value of each parking space;

[0027] S134, obtaining a set of waiting parking spaces whose thermal values ​​are lower than a preset threshold;

[0028] S135. Obtain at least one waiting parking space in the set whose distance from the current position of the vehicle is lower than a preset threshold as the updated target position.

[0029] Preferably, after step S131 and before step S133, the method further includes:

[0030] Step S132: updating the road network heat map in real time.

[0031] Preferably, the step S133 includes:

[0032] S1331, taking the lanes under each road in the existing road network as basic travel paths, and establishing a lane-level road network based on the connection relationship between the roads and the adjacent relationship between the lanes;

[0033] S1332, updating the potential energy value of each lane in the road network in real time, when a vehicle enters, approaches, or is planned as a navigation path in any lane, the potential energy value of the lane increases by A, B, or C, and A>B>C;

[0034] S1333. The thermal value of the waiting parking space is equal to the thermal value of the lane where the waiting parking space is located.

[0035] Preferably, the waiting parking spaces in the road network are arranged at intervals along the lanes of the driving road areas in the non-intersection areas of the site area, the length of the waiting parking spaces is greater than or equal to the length of the vehicle, and in each of the lanes, the length direction of the waiting parking spaces is parallel to the driving direction of the lane, and the spacing between the waiting parking spaces of adjacent vehicles in the same lane is greater than the required lane-changing distance of the vehicle.

[0036] An embodiment of the present invention further provides a navigation system based on a dynamic waiting area, which is used to implement the above-mentioned navigation method based on a dynamic waiting area. The navigation system based on a dynamic waiting area includes:

[0037] The navigation planning module performs navigation planning for each vehicle based on the starting position and target position of the current mission in the road network of the site area to obtain the planned travel time of the navigation path.

[0038] The update trigger module obtains the maximum waiting time of the vehicle in each venue area based on at least the preset upper limit of the usage time of the vehicle in each venue area, the configured task level and the planned travel time.

[0039] The dynamic waiting module updates the target position based on at least the road network heat map when the cumulative time of the vehicle in the current site area exceeds the corresponding maximum waiting time.

[0040] The navigation update module updates the navigation path according to the updated target position and the current position of the vehicle.

[0041] An embodiment of the present invention further provides a navigation device based on a dynamic waiting area, comprising:

[0042] processor;

[0043] a memory in which executable instructions for the processor are stored;

[0044] The processor is configured to execute the steps of the above-mentioned navigation method based on the dynamic waiting area by executing executable instructions.

[0045] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, and when the program is executed, the steps of the above-mentioned navigation method based on the dynamic waiting area are implemented.

[0046] The navigation method, system, device and storage medium based on the dynamic waiting area of ​​the present invention can be applied to complex operating environments such as ports to realize the coordinated path planning among a large number of unmanned vehicles, effectively preventing the occurrence of global congestion and deadlock due to congestion and queuing in a certain operating area, and greatly improving the overall transportation efficiency of the fleet. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Other features, objectives and advantages of the present invention will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0048] Figure 1 It is a flow chart of the navigation method based on dynamic waiting area of ​​the present invention.

[0049] Figure 2 It is a schematic diagram of specific process steps of step S130 in the navigation method based on the dynamic waiting area of ​​the present invention.

[0050] Figure 3 It is a schematic diagram of an implementation scenario of the navigation method based on a dynamic waiting area of ​​the present invention.

[0051] Figure 4 It is a structural schematic diagram of the navigation system based on the dynamic waiting area of ​​the present invention.

[0052] Figure 5 is a structural schematic diagram of a navigation device based on a dynamic waiting area of ​​the present invention. And

[0053] Figure 6 It is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through other different specific implementation methods, and the details in the present application can also be modified or changed in various ways according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0055] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in a variety of different forms and is not limited to the embodiments described herein.

[0056] In the representations of the present application, the representations with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics represented in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the represented specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples represented in the present application and the features of the different embodiments or examples, unless they contradict each other.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the representation of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0058] In order to clearly describe the present application, components irrelevant to the description are omitted, and the same reference symbols are given to the same or similar components throughout the specification.

[0059] Throughout the specification, when a device is said to be "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a device is said to "include" a certain component, unless otherwise stated, it does not exclude other components, but means that other components may be included.

[0060] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly" on another device, there are no other devices between it.

[0061] Although the terms first, second, etc. are used to represent various elements in the present invention in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first interface and the second interface, etc. are represented. Moreover, as used in the present invention, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the existence of features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0062] The technical terms used herein are only used to refer to specific embodiments and are not intended to limit the present application. The singular form used herein also includes the plural form unless the sentence clearly indicates the contrary meaning. The meaning of "including" used in the specification is to specify specific characteristics, regions, integers, steps, operations, elements and / or components, and does not exclude the existence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0063] Although not defined differently, all terms, including technical and scientific terms used herein, have the same meaning as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are additionally interpreted as having meanings consistent with the relevant technical literature and the contents of the current disclosure, and unless defined, shall not be overly interpreted as ideal or very formal meanings.

[0064] Figure 1 FIG. 1 is a flow chart of the navigation method based on the dynamic waiting area of ​​the present invention. Figure 1 As shown, an embodiment of the present invention provides a navigation method based on a dynamic waiting area, comprising the following steps:

[0065] S110: Perform navigation planning for each vehicle based on the starting position and target position of the current mission in the road network of the site area to obtain a planned travel time for the navigation path.

[0066] S120: Obtain a maximum waiting time of the vehicle in each site area based at least on a preset upper limit of the usage time of the vehicle in each site area, a configured mission level, and a planned travel time.

[0067] S130: When the accumulated time of the vehicle in the current site area exceeds the corresponding maximum waiting time, the target position is updated at least based on the road network heat map.

[0068] S140: Update the navigation path according to the updated target position and the current position of the vehicle.

[0069] The present invention dynamically obtains the longest waiting time for each site area. If the longest waiting time of the site area where the current vehicle is located is exhausted, the vehicle is dispatched to the destination or transferred to a waiting area closer to the destination to wait. This realizes the dynamic selection of vehicle waiting positions in the port area, effectively avoiding the occurrence of global congestion and deadlock due to congestion and queuing in a certain operating area, and greatly improves the overall transportation efficiency of the fleet.

[0070] In a preferred embodiment, the site area includes at least a traffic area and an operation area for loading and unloading, and the preset upper limit of the usage time of the traffic area is greater than the preset upper limit of the usage time of the operation area, but is not limited to this.

[0071] In a preferred embodiment, in step S120, the formula for obtaining the longest waiting time t is:

[0072]

[0073] Where W is the maximum waiting time of each area.

[0074] T L is the preset mission priority level of the vehicle, T L The larger the value, the higher the task priority. L The value range of T is 1 to 20. In a preferred embodiment, T L The value range is 1 to 10.

[0075] ET is the planned travel time for each vehicle to perform the current mission.

[0076] n is the total number of vehicles in the current road network.

[0077] W=P×Q, P is a weighting coefficient, the value range of P is 0.1 to 0.5, and Q is the upper limit of the preset usage time. In a preferred example, P is 1 / 6, but not limited to this.

[0078] In a preferred embodiment, the site area is a port area, and the operation areas in the port area include: quay crane operation waiting area, station lock operation waiting area, yard operation waiting area, and empty container yard operation waiting area. The preset upper limit of the use time of the quay crane operation waiting area is 8 minutes, the preset upper limit of the use time of the station lock operation waiting area is 5 minutes, the preset upper limit of the use time of the yard operation waiting area is 8 minutes, and the preset upper limit of the use time of the empty container yard operation waiting area is 8 minutes. The traffic area in the port area is the driving road area, and the preset upper limit of the use time of the driving road area is 15 minutes, but not limited thereto.

[0079] In a preferred embodiment, in step S130, when the cumulative time that the vehicle has been in the current site area exceeds the corresponding maximum waiting time, the waiting parking spaces in the road network are traversed based on the road network heat map to obtain the thermal value of the location of each parking space, and at least one waiting parking space with a thermal value lower than a preset threshold and a distance lower than the preset threshold is used as the updated target position, but not limited to this.

[0080] Figure 2 FIG. 1 is a schematic diagram of the specific process steps of step S130 in the navigation method based on the dynamic waiting area of ​​the present invention. Figure 2 As shown, in step S130, the following steps are included:

[0081] S131. Determine whether the time the vehicle has been in the current site area exceeds the corresponding maximum waiting time, and the target position corresponding to the current task of the vehicle has not been unlocked. If so, execute step S132; if not, return to step S131.

[0082] Step S132: Update the road network heat map in real time.

[0083] S133. Traverse the waiting parking spaces in the road network based on the road network heat map to obtain the heat value of each parking space.

[0084] S134. Obtain a set of waiting parking spaces whose thermal values ​​are lower than a preset threshold.

[0085] S135. Obtain at least one waiting parking space in the set whose distance from the current position of the vehicle is lower than a preset threshold as the updated target position.

[0086] In a preferred embodiment, step S133 includes:

[0087] S1331. Take the lanes under each road in the existing road network as basic traffic paths, and establish a lane-level road network based on the connection relationship between roads and the adjacent relationship between lanes.

[0088] S1332. Update the potential energy value of each lane in the road network in real time. When a vehicle enters, approaches, or is planned as a navigation path in any lane, the lane potential energy value increases by A, B, or C accordingly, and A>B>C.

[0089] S1333. The thermal value of the waiting parking space is equal to the thermal value of the lane where the waiting parking space is located, but is not limited to this.

[0090] In a preferred embodiment, the waiting parking spaces in the road network are arranged at intervals along the lanes of the driving road area in the non-intersection area of ​​the site area, and the length of the waiting parking spaces is greater than or equal to the length of the vehicle. In each lane, the length direction of the waiting parking spaces is parallel to the driving direction of the lane, and the spacing between adjacent waiting parking spaces in the same lane is greater than the required lane changing distance of the vehicle, but is not limited to this.

[0091] The implementation process of the present invention mainly includes:

[0092] (1) Vehicle arrival time estimation

[0093] In the process of fleet-level planning, the overall horizontal transport vehicles of the port are a dynamic and flowing scene. Different vehicles have different impacts on the carrying capacity of port roads in different time dimensions for different operating scenarios. A truck parked in the center of an intersection should be excluded first, while vehicles parked in the non-working area at the edge are more tolerant. In the layout design of the port, the general concept is to design the number of vehicles to the maximum to meet the operational requirements under extreme conditions. When the number of vehicles reaches the limit of a certain area, it is necessary to control the flow of traffic in this area to limit the access of subsequent vehicles to this area.

[0094] These areas may be dynamic or static.

[0095] Static areas are usually quay cranes, yard crane operation areas, lock station waiting areas, etc.

[0096] Dynamic areas may be located throughout the port.

[0097] The selection of dynamic restricted areas should take into account the time it takes for the vehicle to arrive at the destination. Estimating this time requires considering the results of global vehicle path planning and the results of waiting time.

[0098] The steps for estimating vehicle arrival time are as follows:

[0099] Step 1. Get the vehicle's path planning results

[0100] Step 2: Split each vehicle’s path planning into intersections and non-intersections

[0101] Step 3. Perform speed planning for each non-intersection section and calculate the travel time based on the speed estimation results.

[0102] Step 4. Calculate the interactive layer relationship and waiting relationship of vehicles in the interactive area, and calculate the waiting time and travel time of vehicles

[0103] Step 5. Integrate the above time and splice it according to the path length and the number of paragraphs to get the overall result

[0104] (2) Calculation of port potential energy

[0105] After the lane-level road network is generated, the map needs to be made dynamic, that is, the heat of vehicles on each lane of the map and whether the vehicle will enter in the future is dynamically monitored. A potential energy relationship diagram is formed, and planning is performed while considering the potential energy relationship during the path planning process.

[0106] The specific steps are: divide the lanes on the road network into heat levels. When a vehicle enters a lane, the heat of the lane increases by 10, and when the vehicle leaves the lane, the heat of the lane decreases by 20. When the vehicle is on the lane on the planned road, the heat of the lane increases by 3, and when the vehicle is about to reach the lane, the heat of the lane increases by 7.

[0107] Using the above parameters for path planning achieved good results.

[0108] (3) Dynamic waiting area selection

[0109] 3.1 Classification of dynamic waiting areas

[0110] In the port environment, the behaviors of different waiting areas are defined according to their functions. The following table describes the corresponding functions and characteristics of different waiting areas:

[0111]

[0112]

[0113] According to the types of waiting areas in the above table, you can set the adjustment time and judgment value of different waiting areas in the port.

[0114] 3.3 Maximum waiting time in dynamic waiting area

[0115] According to different judgment values, the calculation formula of the longest waiting time t (unit: s) in the waiting area of ​​the port can be obtained:

[0116]

[0117] Among them, t is the longest waiting time in different areas;

[0118] T L The task priority is a value between 1 and 10. The larger the TL value, the higher the task priority.

[0119] ET is the planned travel time of the vehicle’s current mission;

[0120] n is the total number of vehicles currently in the road network (including all vehicles in driving and parked states);

[0121] The set value of W is one sixth of the waiting or travel time;

[0122] For example:

[0123] area W (unit: seconds) STS 30 Apron 10 Yard 30 Empty 30 Corridor 60

[0124] The maximum waiting time for each waiting area can be calculated using the above method.

[0125] When the longest waiting time in the waiting area is exhausted, the vehicle should be dispatched to the destination or transferred to a waiting area closer to the destination.

[0126] 3.3 Dynamic waiting area selection algorithm

[0127] In the area restriction scenario, waiting areas are divided into dynamic and static areas. In a port environment, some static waiting areas are generally deployed, such as vehicle parking lots, charging areas, loading and unloading waiting areas, etc. However, entering or leaving a static area usually needs to meet certain rules, which means that vehicles do not have to enter a static waiting area every time. Even if they plan to enter and wait, they need to consider the vacant spaces in the static waiting area. Therefore, it is necessary to consider the selection of dynamic waiting areas.

[0128] The selection of dynamic waiting areas in ports meets the following steps:

[0129] Step 1. First select the dynamic waiting area generation location.

[0130] The creation and generation of dynamic waiting areas needs to consider the overall layout of the port. First of all, the intersection area should be avoided. Due to the special design of port roads, waiting and blocking at each intersection may cause a chain reaction;

[0131] Secondly, the working lane and the roads adjacent to the working lane should be avoided. In the port operation specifications, the working lane and the adjacent lanes should be cleared for operation and lane change after the operation is completed;

[0132] Finally, avoid existing congested areas on the road.

[0133] Step 2. Maintain the number of vehicles in the dynamic waiting area and the entry and exit conditions

[0134] According to the calculation results in Chapter 4, the waiting area can be marked as different thermal intervals to determine the selection priority of the waiting area.

[0135] The optional area is divided into waiting blocks with a front-to-back interval. According to the vehicle control turning radius, the two waiting blocks should be spaced 10m apart.

[0136] Step 3. Continuously maintain the waiting time in the dynamic waiting area

[0137] In the continuous maintenance of dynamic waiting areas, the average waiting time and occupancy time of the waiting areas should be considered. For waiting areas with longer waiting and occupancy time, the scope of the waiting areas should be increased. For waiting areas with shorter occupancy time, the scope of the waiting areas should be reduced or the waiting areas should be deleted directly.

[0138] In order to test the feasibility of the algorithm, a series of test maps were constructed and the algorithm was verified on these maps. Figure 1 With 64 nodes, Figure 2 With 450 nodes, Figure 3 It has more than 80,000 nodes.

[0139] For different maps, our algorithm will randomly select two points on the map as the starting point and end point of the vehicle, and iterate 10,000 times, calculate the calculation time of each path finding result and take the average. The following is the calculation result for a single calculation (single vehicle system).

[0140]

[0141] From the results of the single-vehicle system, we can see that the algorithm in this paper shows a high convergence speed on large maps. When the number of nodes increases, the average calculation time is still within an acceptable range. At the same time, the number of iterations of the algorithm is also within a reasonable range.

[0142] For the calculation time of dynamic waiting area generation, the calculation results of this article are as follows:

[0143] Map 1 Map 2 Map 3 2ms 5ms 12ms

[0144] This article starts from the efficiency of the quay crane and counts the number of quay crane operations per hour to observe the operating efficiency of the entire port.

[0145] The impact of using the dynamic waiting area in this article on the efficiency of port operations:

[0146] Map 1 Map 2 Map 3 Use this algorithm NA 30 29.73 The algorithm in this paper is not used NA 24.23 17.52

[0147] Judging from the data, the use of the waiting area algorithm in this article can greatly improve the actual efficiency of the port. The larger the scenario, the more obvious the improvement in efficiency.

[0148] Figure 3 Schematic diagram of the implementation scenario of the navigation method based on the dynamic waiting area of ​​the present invention. Figure 3 As shown, in a container stacking area of ​​a port area, three operation areas 21, 22, 23 (container stacking and loading and unloading areas) and roads connecting the operation areas 21, 22, 23 are combined to form a traffic area 1, and a total of 20 container trucks are driving in the port area. Among them, the task of the current vehicle 10 is to drive from the starting position to the operation area 23 to carry containers, but because the operation positions in the operation area 23 are all full, the vehicles near the operation area 23 are blocked and queued. If the current vehicle 10 continues to go to the operation area 23 at this moment, it can only aggravate the congestion, worsen the traffic conditions of the road network, and form a deadlock. The waiting parking spaces in the road network are arranged at intervals along the lanes of the driving road area of ​​the non-intersection area of ​​the site area. The length of the waiting parking space is greater than or equal to the length of the vehicle. In each lane, the length direction of the waiting parking space is parallel to the driving direction of the lane. The spacing between the waiting parking spaces of adjacent vehicles in the same lane is greater than the required lane change distance of the vehicle, but not limited to this.

[0149] According to the steps of the present invention, first, navigation planning is performed for each vehicle based on the starting position and target position of the current mission in the road network of the site area to obtain the planned travel time of the navigation path.

[0150] Then, the current maximum waiting time t of the vehicle 10 in the traffic zone 1 is:

[0151]

[0152] Where W is the maximum waiting time of each area.

[0153] T L is the preset mission priority level of the vehicle, T L The larger the value, the higher the task priority. L The value range of T is 1 to 20. In a preferred embodiment, T L The value range is 1 to 10.

[0154] ET is the planned travel time for each vehicle to perform the current mission.

[0155] n is the total number of vehicles in the current road network.

[0156] W = 1 / 6 × Q, the preset upper limit of the use time of the work area 21, 22, 23 is 5 minutes, and the preset upper limit of the use time of the traffic area 1 is 10 minutes. Through calculation, the maximum waiting time t = 8 minutes of the current vehicle 10 in the traffic area 1 is obtained. The current time of the vehicle 10 in the traffic area 1 exceeds the corresponding maximum waiting time, triggering the subsequent update of the target position based on the road network heat map.

[0157] In one case, if the cumulative time that the current vehicle 10 has been in the current site area exceeds the corresponding maximum waiting time, and the target position corresponding to the current task of the current vehicle 10 has been unlocked (the work area 23 has an empty work position), the current vehicle 10 will immediately drive to the work area 23 to complete the task as soon as possible.

[0158] In another case, if the current vehicle 10 has accumulated more time in the current site area than the corresponding maximum waiting time, and the target position corresponding to the current task of the current vehicle 10 has not been unlocked (there is still no free work position in the work area 23), the road network heat map is updated in real time. The lanes under each road in the existing road network are used as the basic traffic path, and a lane-level road network is established based on the connection relationship between roads and the adjacent relationship between lanes. The potential energy value of each lane in the road network is updated in real time. When a vehicle enters, approaches or is planned as a navigation path in any lane, the lane potential energy value increases by A, B or C, and A>B>C. The thermal value of the waiting parking space is equal to the thermal value of the lane where the waiting parking space is located. The potential energy value of each lane in the road network is updated in real time; when a vehicle enters the lane, the lane potential energy value increases by A; when a vehicle enters the preset proximity range based on the lane, the lane potential energy value increases by B; when a vehicle's navigation plan passes through the lane, the lane potential energy value increases by C; when a vehicle leaves the lane, the lane potential energy value decreases by D, D=A+B+C. Among them, A=B+C, and A≥2C.

[0159] A set of waiting parking spaces with thermal values ​​lower than a preset threshold is obtained. The waiting parking space 12 with the smallest distance from the current position of the vehicle in the set is obtained as the updated target position. According to the updated target position (waiting parking space 12) and the current position of the current vehicle 10, the navigation path 13 is updated. For example: Based on the lane-level road network, several lane-level alternative paths with the shortest total distance are obtained, and the lane-level alternative paths are sorted according to the sum of the potential energy values ​​passing through the lanes, and the lane-level alternative path with the smallest sum of the potential energy values ​​passing through the lanes is used as the lane-level navigation path 13.

[0160] The present invention dynamically obtains the longest waiting time for each site area. If the longest waiting time of the site area where the current vehicle is located is exhausted, the vehicle is dispatched to the destination or transferred to a waiting area closer to the destination to wait. This realizes the dynamic selection of vehicle waiting positions in the port area, effectively avoiding the occurrence of global congestion and deadlock due to congestion and queuing in a certain operating area, and greatly improves the overall transportation efficiency of the fleet.

[0161] Figure 4 Schematic diagram of the structure of the navigation system based on the dynamic waiting area of ​​the present invention. Figure 4 As shown, the navigation system 5 based on the dynamic waiting area of ​​the present invention includes:

[0162] The navigation planning module 51 performs navigation planning for each vehicle based on the starting position and target position of the current mission in the road network of the site area to obtain the planned travel time of the navigation path.

[0163] The update trigger module 52 obtains the maximum waiting time of the vehicle in each venue area based on at least the preset upper limit of the usage time of the vehicle in each venue area, the configured task level and the planned travel time.

[0164] The dynamic waiting module 53 updates the target position based on at least the road network heat map when the cumulative time of the vehicle in the current venue area exceeds the corresponding maximum waiting time.

[0165] The navigation update module 54 updates the navigation path according to the updated target position and the current position of the vehicle.

[0166] The navigation system based on dynamic waiting areas of the present invention can be applied to complex operating environments such as ports to achieve collaborative path planning among a large number of unmanned vehicles, effectively preventing global congestion and deadlock caused by congestion in a certain operating area, and greatly improving the overall transportation efficiency of the fleet.

[0167] The embodiment of the present invention further provides a navigation device based on a dynamic waiting area, comprising a processor and a memory, wherein executable instructions of the processor are stored, wherein the processor is configured to execute the steps of the navigation method based on the dynamic waiting area by executing the executable instructions.

[0168] As mentioned above, the navigation device based on dynamic waiting areas of the present invention can be applied to complex operating environments such as ports to achieve collaborative path planning among a large number of unmanned vehicles, effectively preventing global congestion and deadlock caused by congestion in a certain operating area, and greatly improving the overall transportation efficiency of the fleet.

[0169] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "platform".

[0170] Figure 5 This is a schematic diagram of the structure of the navigation device based on the dynamic waiting area of ​​the present invention. Figure 5 The electronic device 600 according to this embodiment of the present invention is described. Figure 5 The electronic device 600 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0171] like Figure 5 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0172] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps of various exemplary embodiments of the present invention described in the electronic prescription circulation processing method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 1 Follow the steps shown in .

[0173] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0174] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0175] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0176] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0177] The embodiment of the present invention also provides a computer-readable storage medium for storing a program, and the steps of the navigation method based on the dynamic waiting area are implemented when the program is executed. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary embodiments of the present invention described in the above-mentioned electronic prescription circulation processing method section of this specification.

[0178] As shown above, when the program of the computer-readable storage medium of this embodiment is executed, it can be applied to complex operating environments such as ports to achieve coordinated path planning among a large number of unmanned vehicles, effectively preventing global congestion and deadlock caused by congestion and queues in a certain operating area, and greatly improving the overall transportation efficiency of the fleet.

[0179] Figure 6 Schematic diagram of the structure of the computer-readable storage medium of the present invention. Figure 6 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0180] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0181] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0182] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0183] In summary, the navigation method, system, device and storage medium based on the dynamic waiting area of ​​the present invention can be applied to complex operating environments such as ports to achieve collaborative path planning among a large number of unmanned vehicles, effectively preventing global congestion and deadlock caused by congestion and queuing in a certain operating area, and greatly improving the overall transportation efficiency of the fleet.

[0184] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A navigation method based on a dynamic waiting area, characterized in that: The steps include: S110, performing navigation planning for each vehicle based on the starting position and target position of the current mission in the road network of the site area, and obtaining a planned travel time of the navigation path; S120, obtaining a maximum waiting time of the vehicle in each of the venue areas based at least on a preset upper limit of the usage time of the vehicle in each of the venue areas, a configured mission level, and a planned travel time; S130, when the cumulative time of the vehicle in the current site area exceeds the corresponding maximum waiting time, traverse the waiting parking spaces in the road network based on the road network heat map, obtain the heat value of each parking space, and take at least one waiting parking space whose heat value is lower than a preset threshold and whose distance is lower than the preset threshold as the updated target position; S140: Update the navigation path according to the updated target position and the current position of the vehicle.

2. The navigation method based on dynamic waiting area according to claim 1, characterized in that: The site area at least includes a traffic area and an operation area for loading and unloading, and the preset upper limit of the usage time of the traffic area is greater than the preset upper limit of the usage time of the operation area.

3. The navigation method based on dynamic waiting area according to claim 1, characterized in that: In step S120, the formula for obtaining the longest waiting time t is: Where W is the maximum waiting time for each area; T L is the preset mission priority level of the vehicle, T L The larger the value, the higher the task priority. L The value range of is 1 to 20; ET is the planned travel time for each vehicle to perform the current task; n is the total number of vehicles in the current road network; W=P×Q, P is a weighting coefficient, the value range of P is 0.1 to 0.5, and Q is the upper limit of the preset usage time.

4. The navigation method based on dynamic waiting area according to claim 3, characterized in that: The site area is a port area, and the operation areas of the port area include: a quay crane operation waiting area, a lock station operation waiting area, a yard operation waiting area, and an empty container yard operation waiting area. The preset upper limit of the use time of the quay crane operation waiting area is 8 minutes, the preset upper limit of the use time of the lock station operation waiting area is 5 minutes, the preset upper limit of the use time of the yard operation waiting area is 8 minutes, and the preset upper limit of the use time of the empty container yard operation waiting area is 8 minutes; The traffic area of ​​the port area is a driving road area, and the preset upper limit of the usage time of the driving road area is 15 minutes.

5. The navigation method based on dynamic waiting area according to claim 1, characterized in that: In step S130, the following steps are included: S131, determining whether the time the vehicle has been in the current site area cumulatively exceeds the corresponding maximum waiting time, and the target position corresponding to the current task of the vehicle has not been unlocked, if so, executing step S133, if not, returning to step S131; S133, traversing the waiting parking spaces in the road network based on the road network heat map, and obtaining the heat value of each parking space; S134, obtaining a set of waiting parking spaces whose thermal values ​​are lower than a preset threshold; S135. Obtain at least one waiting parking space in the set whose distance from the current position of the vehicle is lower than a preset threshold as the updated target position.

6. The navigation method based on dynamic waiting area according to claim 5, characterized in that: After step S131 and before step S133, the method further includes: Step S132: updating the road network heat map in real time.

7. The navigation method based on dynamic waiting area according to claim 6, characterized in that: The step S133 includes: S1331, taking the lanes under each road in the existing road network as basic travel paths, and establishing a lane-level road network based on the connection relationship between the roads and the adjacent relationship between the lanes; S1332, updating the potential energy value of each lane in the road network in real time, when a vehicle enters, approaches, or is planned as a navigation path in any lane, the potential energy value of the lane increases by A, B, or C accordingly, and A>B>C; S1333. The thermal value of the waiting parking space is equal to the thermal value of the lane where the waiting parking space is located.

8. The navigation method based on dynamic waiting area according to claim 7, characterized in that: The waiting parking spaces in the road network are arranged at intervals along the lanes of the driving road area in the non-intersection area of ​​the site area. The length of the waiting parking spaces is greater than or equal to the length of the vehicle. In each lane, the length direction of the waiting parking spaces is parallel to the driving direction of the lane, and the spacing between the waiting parking spaces of adjacent vehicles in the same lane is greater than the required lane changing distance of the vehicle.

9. A navigation system based on a dynamic waiting area, characterized in that: The system comprises: The navigation planning module performs navigation planning for each vehicle based on the starting position and target position of the current mission in the road network of the site area to obtain the planned travel time of the navigation path; An updating trigger module is used to obtain a maximum waiting time of the vehicle in each of the venue areas according to at least a preset upper limit of the usage time of the vehicle in each of the venue areas, a configured mission level, and a planned travel time; A dynamic waiting module, when the cumulative time of the vehicle in the current site area exceeds the corresponding maximum waiting time, traverses the waiting parking spaces in the road network based on the road network heat map, obtains the thermal value of the location of each parking space, and takes at least one waiting parking space whose thermal value is lower than a preset threshold and whose distance is lower than the preset threshold as the updated target position; a navigation update module, updates the navigation path according to the updated target position and the current position of the vehicle.

10. A navigation device based on a dynamic waiting area, characterized in that: include: processor; a memory storing executable instructions of the processor; The processor is configured to execute the steps of the dynamic waiting area based navigation method according to any one of claims 1 to 7 by executing the executable instructions.

11. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the navigation method based on the dynamic waiting area according to any one of claims 1 to 7 are implemented.

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