A method and device for controlling automatic truck passing through an unlocking station in a port

Abstract

The application provides a control method and device for automatic container truck passing through an unlocking station in a port, and relates to the technical field of automatic driving. A first trajectory point sequence of the container truck passing through the unlocking station is obtained according to a lane center line of a driving route, a first compensation value of lateral deviation is obtained by detecting the distance of a left unlocking station and a right unlocking station from the lane center line, a second trajectory point sequence is obtained by considering the first compensation value of lateral deviation in the first trajectory point sequence, a lateral deviation value of the current driving of the container truck is recorded in real time during the automatic driving process, and the maximum value of the left / right lateral deviation value is stored, a second compensation value of lateral deviation of an initial trajectory is calculated through the left / right lateral deviation value, a third trajectory point sequence is obtained by considering the second compensation value of control deviation in the second trajectory point sequence, the third trajectory point is smoothed to obtain a final trajectory point sequence, and therefore the passing rate of the automatic container truck passing through the unlocking station in the port is ensured, and the operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a method and apparatus for controlling the passage of automated trucks through unlocking stations in ports. Background Technology

[0002] In the process of port intelligence, autonomous vehicles are gradually replacing manually driven vehicles. When unmanned vehicles are pulling containers from cargo ships, they need to pass through an unlocking station to unlock the containers.

[0003] However, the unlocking stations are relatively narrow, only allowing one truck to pass at a time. Autonomous vehicles often stop before the unlocking station due to collision detection, affecting their operational efficiency. Furthermore, autonomous trucks are trailer-type vehicles, making them more difficult to control when passing through the unlocking station. In addition, the unlocking stations are sometimes not placed symmetrically on both sides of the road, causing vehicles to stop before entering the unlocking station due to collision detection. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and device for regulating and controlling the passage of automated trucks through unlocking stations in ports, which can improve the throughput of automated trucks through unlocking stations in ports.

[0005] In a first aspect, embodiments of this application provide a method for regulating and controlling the passage of automated container trucks through unlocking stations within a port, the method comprising the following steps:

[0006] Obtain the driving route of the truck passing through the unlocking station, and use the lane centerline of the driving route as the first trajectory point sequence of the truck passing through the unlocking station;

[0007] The first lateral deviation compensation value is calculated based on the lateral deviation position of the unlocking station, and the second trajectory point sequence of the truck passing through the unlocking station is obtained based on the first lateral deviation compensation value and the first trajectory point sequence.

[0008] The second lateral deviation compensation value is obtained based on the control tracking lateral deviation, and the third trajectory point sequence of the truck passing through the unlocking station is obtained based on the second lateral deviation compensation value and the second trajectory point sequence.

[0009] The third trajectory point sequence of the truck passing through the unlocking station is smoothed to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0010] In some embodiments, calculating the first lateral deviation compensation value based on the lateral deviation position of the unlocking station includes the following steps:

[0011] Obtain the location information of the unlocking station, and divide the unlocking station into a left unlocking station and a right unlocking station according to the location information, wherein the left unlocking station and the right unlocking station are symmetrically arranged;

[0012] Obtain the right boundary point sequence of the left unlocking station and the left boundary point sequence of the right unlocking station, and map the right boundary point sequence or the left boundary point sequence along the lane centerline direction to obtain the first trajectory point sequence interval corresponding to the unlocking station.

[0013] Obtain the first distance from the right boundary of the left unlocking station corresponding to each trajectory point in the first trajectory point sequence interval to the corresponding center trajectory point, and obtain the second distance from the left boundary of the right unlocking station corresponding to each trajectory point in the first trajectory point sequence interval to the corresponding center trajectory point.

[0014] A first lateral deviation compensation value is obtained based on the first distance and the second distance.

[0015] In some embodiments, half of the difference between the first distance and the second distance is used as the first lateral deviation compensation value.

[0016] In some embodiments, obtaining a second trajectory point sequence for the truck passing through the unlocking station based on the first lateral deviation compensation value and the first trajectory point sequence includes the following steps:

[0017] Based on the first lateral deviation compensation value, the trajectory points in the first trajectory point sequence interval corresponding to the unlocking station in the first trajectory point sequence are translated, while the trajectory points corresponding to non-unlocking stations remain unchanged, to obtain the second trajectory point sequence of the truck passing through the unlocking station, and the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence.

[0018] In some embodiments, obtaining the second lateral deviation compensation value based on the control tracking lateral deviation includes the following steps:

[0019] Collect the maximum left lateral deviation and the maximum right lateral deviation between the actual position and the control position of the truck before it travels to the unlocking station;

[0020] The difference between the maximum left lateral deviation and the maximum right lateral deviation is used as the second lateral deviation compensation value.

[0021] In some embodiments, obtaining a third trajectory point sequence for the truck passage unlocking station based on the second lateral deviation compensation value and the second trajectory point sequence includes the following steps:

[0022] Based on the second lateral deviation compensation value, the trajectory points in the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence are translated, while the trajectory points corresponding to non-unlocking stations remain unchanged, to obtain the third trajectory point sequence of the truck passing through the unlocking station, and to obtain the third trajectory point sequence interval corresponding to the unlocking station in the third trajectory point sequence.

[0023] In some embodiments, the third trajectory point sequence interval corresponding to the unlocking station and the trajectory point sequence corresponding to the non-unlocking station in the third trajectory point sequence are smoothed to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0024] Secondly, embodiments of this application provide a control device for an automatic truck passage unlocking station within a port, the device comprising:

[0025] The first trajectory point sequence acquisition module is used to acquire the driving route of the truck passing through the unlocking station, and use the lane center line of the driving route as the first trajectory point sequence of the truck passing through the unlocking station.

[0026] The second trajectory point sequence acquisition module is used to calculate the first lateral deviation compensation value based on the lateral deviation position of the unlocking station, and obtain the second trajectory point sequence of the truck passing through the unlocking station based on the first lateral deviation compensation value and the first trajectory point sequence.

[0027] The third trajectory point sequence acquisition module is used to obtain the second lateral deviation compensation value based on the control tracking lateral deviation, and to obtain the third trajectory point sequence of the truck passing through the unlocking station based on the second lateral deviation compensation value and the second trajectory point sequence.

[0028] The smoothing module is used to smooth the third trajectory point sequence of the truck passing through the unlocking station to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0029] Thirdly, an electronic device provided in this application includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the control method for automatic truck passage and unlocking stations in ports described in any of the above claims are executed.

[0030] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the control method for automatic truck passage unlocking stations in ports as described in any of the preceding claims.

[0031] This application discloses a control method and apparatus for an automated truck passage unlocking station in a port. The method involves obtaining a first trajectory point sequence for the truck passage unlocking station based on the lane centerline of the driving route; calculating a first lateral deviation compensation value based on the lateral deviation position of the unlocking station, resulting in a second trajectory point sequence; obtaining a second lateral deviation compensation value based on the control tracking lateral deviation, resulting in a third trajectory point sequence; and smoothing the third trajectory point sequence to obtain the final trajectory point sequence for the truck passage unlocking station. This effectively reduces the probability of truck passage unlocking station failure due to placement deviation and effectively reduces the impact of control deviation on the truck passage unlocking station; it also improves the throughput of automated truck passage unlocking stations in ports and enhances operational efficiency. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart of the control method for automatic truck passage unlocking stations in ports as described in an embodiment of this application is shown;

[0034] Figure 2 This invention provides a schematic diagram of the structure of the unlocking station and the lane centerline as described in an embodiment of this application.

[0035] Figure 3 This document illustrates a flowchart illustrating the calculation of the first lateral deviation compensation value based on the lateral deviation position of the unlocking station, as described in an embodiment of this application.

[0036] Figure 4 The diagram illustrates the path diagram for obtaining the second lateral deviation compensation value based on the control tracking lateral deviation according to an embodiment of this application.

[0037] Figure 5 This paper shows a structural block diagram of the control device for the automatic truck passage unlocking station in the port according to an embodiment of this application;

[0038] Figure 6 A structural block diagram of the electronic device described in an embodiment of this application is shown. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0040] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0041] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0042] In view of the technical problems mentioned in the background, this application provides a method and device for regulating and controlling the passage of automated trucks through unlocking stations in ports, which can improve the throughput of automated truck passage unlocking stations in ports.

[0043] To clearly understand the technical solutions of the embodiments of the present invention, an exemplary description of the application scenarios can be provided first. This application provides a method for controlling the movement of automated container trucks through unlocking stations within ports. This method applies to automated container trucks, i.e., driverless vehicles that transport containers, and in this application, driverless vehicles automatically transport containers to unlocking stations for unlocking. Containers on cargo ships require locks for securing them. Therefore, in ports, before containers are transported from the placement area to the cargo ship, locks need to be installed. After containers are unloaded from the cargo ship and transferred to the dock, the locks need to be removed before they are transported to the placement area. Therefore, a large amount of container lock removal and installation work is required at ports. Currently, lock stations are typically established at the docks to automatically remove and install container locks.

[0044] See the instruction manual appendix Figure 1 This application provides a method for regulating and controlling the passage of automated container trucks through unlocking stations in ports, comprising the following steps:

[0045] S1. Obtain the driving route of the truck passing through the unlocking station, and use the lane center line of the driving route as the first trajectory point sequence of the truck passing through the unlocking station;

[0046] In step S1, the driving route is pre-planned by the terminal operating system for the corresponding truck to travel to the unlocking station. The lane boundary point sequence information of the driving route can be obtained directly from the map information issued by the high-precision map. This should be a technical means well known to those skilled in the art, and will not be elaborated here.

[0047] The lane boundary point sequence information includes lane left boundary point sequence information and lane right boundary point sequence information. Based on the lane left boundary point sequence information and the lane right boundary point sequence information, the point sequence of the lane center line is obtained by taking the midpoint position between the two points, and the obtained point sequence of the lane center line is used as the first trajectory point sequence of the truck passing through the unlocking station.

[0048] S2. Calculate the first lateral deviation compensation value based on the lateral deviation position of the unlocking station, and obtain the second trajectory point sequence of the truck passing through the unlocking station based on the first lateral deviation compensation value and the first trajectory point sequence.

[0049] In step S2, see the appendix to the instruction manual. Figure 2 The calculation of the first lateral deviation compensation value based on the lateral deviation position of the unlocking station includes the following steps:

[0050] S201. Obtain the location information of the unlocking station, and divide the unlocking station into a left unlocking station and a right unlocking station according to the location information of the unlocking station, wherein the left unlocking station and the right unlocking station are symmetrically arranged.

[0051] S202. Obtain the right boundary point sequence of the left unlocking station and the left boundary point sequence of the right unlocking station, and map the right boundary point sequence or the left boundary point sequence along the lane centerline direction to obtain the first trajectory point sequence interval corresponding to the unlocking station.

[0052] S203. Obtain the first distance from the right boundary of the left unlocking station corresponding to each trajectory point in the first trajectory point sequence interval to the corresponding center trajectory point, and obtain the second distance from the left boundary of the right unlocking station corresponding to each trajectory point in the first trajectory point sequence interval to the corresponding center trajectory point.

[0053] S204. Obtain a first lateral deviation compensation value based on the first distance and the second distance.

[0054] It should be noted that the unlocking station consists of a first unlocking station and a second unlocking station, and a truck passage area is set between the first and second unlocking stations for parking trucks to unlock the locks on the trucks (for example, 40-foot and 45-foot containers have side locks at the four corners). In this application, based on the relative position between the unlocking station and the truck, the first and second unlocking stations are referred to as the left unlocking station and the right unlocking station, and the left and right unlocking stations are symmetrically arranged. However, the symmetry mentioned here only refers to the longitudinal alignment of the left and right unlocking stations, not symmetry about the lane centerline. Therefore, there will inevitably be a deviation in the placement of the unlocking stations when the truck passes through them, which is the first lateral deviation compensation value mentioned in this application.

[0055] The location and boundary information of the unlocking station can be obtained from the sensing module installed on the truck. (See the attached instruction manual.) Figure 3 After obtaining the first trajectory point sequence interval corresponding to the unlocking station, the first trajectory point sequence interval is traversed to obtain the distance from the right boundary of the left unlocking station to the corresponding center trajectory point for each trajectory point in the interval, i.e., the first distance I0~In; and the first trajectory point sequence interval is traversed to obtain the distance from the left boundary of the right unlocking station to the corresponding center trajectory point for each trajectory point in the interval, i.e., the second distance r0~rn. Obviously, the first distance I0~In is greater than the second distance r0~rn. If the truck travels according to the initially customized first trajectory point sequence, the distance between the truck and the right boundary of the left unlocking station is relatively far, while the distance between the truck and the left boundary of the right unlocking station is relatively close, which will cause a collision detection and stop phenomenon. Therefore, it is necessary to adjust the trajectory points in the first trajectory point sequence interval in the first trajectory point sequence. The reference value for adjustment is the first lateral deviation compensation value.

[0056] In this embodiment, the first trajectory point sequence interval is traversed, and half of the difference between the distance from the right boundary of the left unlocking station to the corresponding center trajectory point and the distance from the left boundary of the right unlocking station to the corresponding center trajectory point is obtained as the first lateral deviation compensation value of the trajectory point. The first lateral deviation compensation value of each point in the trajectory point sequence interval is obtained in turn.

[0057] After calculating the first lateral deviation compensation value, the trajectory points in the first trajectory point sequence interval corresponding to the unlocking station in the first trajectory point sequence are translated according to the first lateral deviation compensation value, while the trajectory points corresponding to non-unlocking stations remain unchanged, to obtain the second trajectory point sequence of the truck passing through the unlocking station, and to obtain the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence.

[0058] S3. Obtain the second lateral deviation compensation value based on the control tracking lateral deviation, and obtain the third trajectory point sequence of the truck passing through the unlocking station based on the second lateral deviation compensation value and the second trajectory point sequence;

[0059] In step S3, refer to the appendix to the instruction manual. Figure 4 The step of obtaining the second lateral deviation compensation value based on the control tracking lateral deviation includes the following steps:

[0060] S301. Collect the maximum left lateral deviation and the maximum right lateral deviation between the actual position and the control position of the truck before it travels to the unlocking station;

[0061] S302. The difference between the maximum left lateral deviation and the maximum right lateral deviation is used as the second lateral deviation compensation value.

[0062] As the truck travels along the planned path, the lateral deviation of the truck is obtained based on its current position and corresponding control position. If the deviation is to the left of the trajectory point, the left lateral deviation value is stored; if the deviation is to the right of the trajectory point, the right lateral deviation value is stored. The lateral deviation at the next moment is determined sequentially according to the sampling period. If it is a left deviation, it is compared with the left deviation stored at the previous moment, and the larger left lateral deviation value is stored, while the right lateral deviation value remains the same. If it is a right deviation, it is compared with the right deviation stored at the previous moment, and the larger right lateral deviation value is stored, while the left lateral deviation value remains the same. When the truck reaches the unlocking station, the acquisition of the above-mentioned tracking control lateral deviation is stopped, thus obtaining the maximum left lateral deviation and the maximum right lateral deviation.

[0063] Before entering the unlocking station, there are no obstacles on either side of the truck. However, after entering the unlocking station, there are left and right unlocking stations on either side of the truck, which are very close to each other. If the lateral deviation of the tracking control is large, it is easy to trigger collision detection and stop the truck. Therefore, after the truck enters the unlocking station, the lateral deviation of the tracking control is adjusted based on the lateral deviation of the truck before entering the unlocking station. This makes the truck tend to move in the direction with smaller tracking deviation as it passes through the unlocking station, thereby avoiding the phenomenon of the truck triggering collision detection and stopping.

[0064] In this embodiment, the difference between the collected maximum left lateral deviation and the maximum right lateral deviation is used as the second lateral deviation compensation value. The second lateral deviation compensation value is then considered based on the second trajectory point sequence to obtain the third trajectory point sequence. The second trajectory point sequence...

[0065] The trajectory points of the second trajectory point sequence interval corresponding to the unlocking station in the column are translated according to the second lateral deviation compensation value 5, while the trajectory points corresponding to non-unlocking stations remain unchanged, to obtain the third trajectory point sequence of the truck passing through the unlocking station, and to obtain the third trajectory point sequence interval corresponding to the unlocking station in the third trajectory point sequence.

[0066] S4. Smooth the obtained third trajectory point sequence of the truck passing through the unlocking station to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0067] 0. Through steps S2 and S3, it can be seen that the third trajectory point sequence interval corresponding to the unlocking station in the third trajectory point sequence, compared with the trajectory point sequence outside this interval, takes into account the factor that the unlocking station is sometimes not symmetrically placed on both sides of the road during the placement process, as well as the factor of control tracking deviation when passing through the unlocking station. Therefore, the truck may experience trajectory abrupt changes when passing through the unlocking station.

[0068] Therefore, smoothing processing must be performed to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0069] This application provides a method for controlling automatic truck passing unlocking stations in a port. The method obtains the first trajectory point sequence of the truck passing unlocking stations based on the lane centerline of the driving route, detects the distances of the left and right unlocking stations relative to the lane centerline, and obtains the first compensation value for lateral offset.

[0070] The first trajectory point sequence is used to obtain the second trajectory point sequence by considering the first compensation value for lateral offset; in autonomous driving...

[0071] During driving, the lateral deviation value of the truck is recorded in real time, and the maximum value of the difference between the left and right lateral deviations is stored. The second compensation value of the lateral offset of the initial trajectory is calculated by using the left and right lateral deviation values.

[0072] The second trajectory point sequence is used to obtain the third trajectory point sequence by considering the second compensation value of the control deviation.

[0073] The third trajectory point is smoothed to obtain the final trajectory point sequence. This ensures the smooth movement of automated trucks within the port.

[0074] Based on the same inventive concept, this application also provides a control device for automatic trucks passing through unlocking stations in ports. Since the principle of the device in this application is similar to the control method for automatic trucks passing through unlocking stations in ports described above, the implementation of the device can refer to the implementation of the control method for automatic trucks passing through unlocking stations in ports, and the repeated parts will not be described again.

[0075] See the instruction manual appendix Figure 5In some embodiments, a control device for an automated truck passage unlocking station within a port includes:

[0076] The first trajectory point sequence acquisition module 501 is used to acquire the driving route of the truck passing through the unlocking station and use the lane center line of the driving route as the first trajectory point sequence of the truck passing through the unlocking station.

[0077] The second trajectory point sequence acquisition module 502 is used to calculate the first lateral deviation compensation value based on the lateral deviation position of the unlocking station, and obtain the second trajectory point sequence of the truck passing through the unlocking station based on the first lateral deviation compensation value and the first trajectory point sequence.

[0078] The third trajectory point sequence acquisition module 503 is used to acquire the second lateral deviation compensation value based on the control tracking lateral deviation, and to obtain the third trajectory point sequence of the truck passing through the unlocking station based on the second lateral deviation compensation value and the second trajectory point sequence.

[0079] The smoothing module 504 is used to smooth the obtained third trajectory point sequence of the truck passing through the unlocking station to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0080] In one embodiment, the second trajectory point sequence acquisition module 502 calculates a first lateral deviation compensation value based on the lateral deviation position of the unlocking station, including:

[0081] Obtain the location information of the unlocking station, and divide the unlocking station into a left unlocking station and a right unlocking station according to the location information, wherein the left unlocking station and the right unlocking station are symmetrically arranged;

[0082] Obtain the right boundary point sequence of the left unlocking station and the left boundary point sequence of the right unlocking station, and map the right boundary point sequence or the left boundary point sequence along the lane centerline direction to obtain the first trajectory point sequence interval corresponding to the unlocking station.

[0083] Obtain the first distance from the right boundary of the left unlocking station corresponding to each trajectory point in the first trajectory point sequence interval to the corresponding center trajectory point, and obtain the second distance from the left boundary of the right unlocking station corresponding to each trajectory point in the first trajectory point sequence interval to the corresponding center trajectory point.

[0084] A first lateral deviation compensation value is obtained based on the first distance and the second distance; wherein, half of the difference between the first distance and the second distance is used as the first lateral deviation compensation value.

[0085] In one embodiment, the second trajectory point sequence acquisition module 502 translates the trajectory points in the first trajectory point sequence interval corresponding to the unlocking station in the first trajectory point sequence according to the first lateral deviation compensation value, while keeping the trajectory points corresponding to non-unlocking stations unchanged, to obtain the second trajectory point sequence of the truck passing through the unlocking station, and the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence.

[0086] In one embodiment, the third trajectory point sequence acquisition module 503 acquires a second lateral deviation compensation value based on the control tracking lateral deviation, including:

[0087] Collect the maximum left lateral deviation and the maximum right lateral deviation between the actual position and the control position of the truck before it travels to the unlocking station;

[0088] The difference between the maximum left lateral deviation and the maximum right lateral deviation is used as the second lateral deviation compensation value.

[0089] In one embodiment, the third trajectory point sequence acquisition module 503 translates the trajectory points of the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence according to the second lateral deviation compensation value, while keeping the trajectory points corresponding to non-unlocking stations unchanged, to obtain the third trajectory point sequence of the truck passing through the unlocking station, and to obtain the third trajectory point sequence interval corresponding to the unlocking station in the third trajectory point sequence.

[0090] In one embodiment, the smoothing module 504 smooths the third trajectory point sequence interval corresponding to the unlocking station and the trajectory point sequence corresponding to the non-unlocking station in the third trajectory point sequence to obtain the final trajectory point sequence of the truck passing through the unlocking station.

[0091] The control device for an automated truck passage unlocking station in a port, as described in this application, acquires a first trajectory point sequence for the truck passage unlocking station based on the lane centerline of the driving route using a first trajectory point sequence acquisition module. A second trajectory point sequence acquisition module calculates a first lateral deviation compensation value based on the lateral deviation position of the unlocking station, obtaining a second trajectory point sequence for the truck passage unlocking station. A third trajectory point sequence acquisition module acquires a second lateral deviation compensation value based on the control tracking lateral deviation, obtaining a third trajectory point sequence for the truck passage unlocking station. A smoothing module smooths the obtained third trajectory point sequence to obtain the final trajectory point sequence for the truck passage unlocking station. This effectively reduces the probability of truck passage unlocking station failure due to unlocking station placement deviation and effectively reduces the impact of control deviation on the truck passage unlocking station; it also improves the throughput of automated truck passage unlocking stations in ports and increases operational efficiency.

[0092] Based on the same concept of the present invention, the specification is attached. Figure 6As shown in the figure, an embodiment of this application provides the structure of an electronic device 600, which includes: at least one processor 601, at least one network interface 604 or other user interface 603, memory 605, and at least one communication bus 602. The communication bus 602 is used to realize the connection and communication between these components. The electronic device 600 may optionally include a user interface 603, including a display (e.g., touch screen, LCD, CRT, holographic imaging, or projector, etc.), a keyboard, or a clicking device (e.g., mouse, trackball, touchpad, or touch screen, etc.).

[0093] Memory 605 may include read-only memory and random access memory, and provides instructions and data to processor 601. A portion of memory 605 may also include non-volatile random access memory (NVRAM).

[0094] In some implementations, memory 605 stores elements that can protect modules or data structures, or subsets thereof, or extended sets thereof:

[0095] The 6051 operating system contains various system programs used to implement various basic business functions and handle hardware-based tasks.

[0096] Application module 6052 contains various applications, such as desktop launcher, media player, and browser, to implement various application services.

[0097] In this embodiment of the application, by calling the program or instructions stored in the memory 605, the processor 601 is used to execute the steps in a control method for automatic truck passage unlocking stations in a port, which can improve the throughput of automatic truck passage unlocking stations in a port.

[0098] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs steps in a control method for automatic truck passage unlocking stations within a port.

[0099] Specifically, the storage medium can be a general-purpose storage medium, such as a portable disk or hard disk. When the computer program on the storage medium is run, it can execute the aforementioned control method for automatic truck passage and unlocking stations within the port.

[0100] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0101] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0103] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] Finally, it should be noted that the above embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for regulating and controlling the passage of automated container trucks through unlocking stations in a port, characterized in that, The method includes the following steps: Obtain the driving route of the truck passing through the unlocking station, and use the lane centerline of the driving route as the first trajectory point sequence of the truck passing through the unlocking station; A first lateral deviation compensation value is calculated based on the lateral deviation position of the unlocking station, and a second trajectory point sequence for truck passage through the unlocking station is obtained based on the first lateral deviation compensation value and the first trajectory point sequence. The calculation of the first lateral deviation compensation value based on the lateral deviation position of the unlocking station includes the following steps: obtaining the location information of the unlocking station, and dividing the unlocking station into a left unlocking station and a right unlocking station based on the location information, wherein the left and right unlocking stations are symmetrically arranged; obtaining the right boundary point sequence of the left unlocking station and the left boundary point sequence of the right unlocking station, and mapping the length of the right boundary point sequence or the left boundary point sequence along the lane centerline direction to obtain the first trajectory point sequence interval corresponding to the unlocking station; obtaining the first distance from the right boundary of the left unlocking station to the corresponding center trajectory point for each trajectory point within the first trajectory point sequence interval, and obtaining the second distance from the left boundary of the right unlocking station to the corresponding center trajectory point for each trajectory point within the first trajectory point sequence interval; and obtaining the first lateral deviation compensation value based on the first distance and the second distance. A second lateral deviation compensation value is obtained based on the control tracking lateral deviation, and a third trajectory point sequence is obtained based on the second lateral deviation compensation value and the second trajectory point sequence; wherein, obtaining the second lateral deviation compensation value based on the control tracking lateral deviation includes the following steps: collecting the maximum left lateral deviation and the maximum right lateral deviation between the actual position and the control position before the truck travels to the unlocking station; and using the difference between the collected maximum left lateral deviation and the maximum right lateral deviation as the second lateral deviation compensation value; The third trajectory point sequence of the truck passing through the unlocking station is smoothed to obtain the final trajectory point sequence of the truck passing through the unlocking station.

2. The control method for automatic truck passage unlocking stations in a port according to claim 1, characterized in that, in, Half of the difference between the first distance and the second distance is used as the first lateral deviation compensation value.

3. The control method for automatic truck passage unlocking stations in a port according to claim 2, characterized in that, The second trajectory point sequence of the truck passing through the unlocking station is obtained based on the first lateral deviation compensation value and the first trajectory point sequence, including the following steps: Based on the first lateral deviation compensation value, the trajectory points in the first trajectory point sequence interval corresponding to the unlocking station in the first trajectory point sequence are translated, while the trajectory points corresponding to non-unlocking stations remain unchanged, to obtain the second trajectory point sequence of the truck passing through the unlocking station, and the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence.

4. The control method for automatic truck passage unlocking stations in a port according to claim 3, characterized in that, The third trajectory point sequence of the truck passage unlocking station is obtained based on the second lateral deviation compensation value and the second trajectory point sequence, including the following steps: Based on the second lateral deviation compensation value, the trajectory points in the second trajectory point sequence interval corresponding to the unlocking station in the second trajectory point sequence are translated, while the trajectory points corresponding to non-unlocking stations remain unchanged, to obtain the third trajectory point sequence of the truck passing through the unlocking station, and to obtain the third trajectory point sequence interval corresponding to the unlocking station in the third trajectory point sequence.

5. The control method for automatic truck passage unlocking stations in a port according to claim 4, characterized in that, in, The third trajectory point sequence interval corresponding to the unlocking station and the trajectory point sequence corresponding to the non-unlocking station in the third trajectory point sequence are smoothed to obtain the final trajectory point sequence of the truck passing through the unlocking station.

6. A control device for an automatic truck passage unlocking station within a port, characterized in that, The device includes: The first trajectory point sequence acquisition module is used to acquire the driving route of the truck passing through the unlocking station, and use the lane center line of the driving route as the first trajectory point sequence of the truck passing through the unlocking station. The second trajectory point sequence acquisition module is used to calculate a first lateral deviation compensation value based on the lateral deviation position of the unlocking station, and to obtain a second trajectory point sequence of the truck passing through the unlocking station based on the first lateral deviation compensation value and the first trajectory point sequence; wherein, calculating the first lateral deviation compensation value based on the lateral deviation position of the unlocking station includes: acquiring the location information of the unlocking station, and dividing the unlocking station into a left unlocking station and a right unlocking station based on the location information, wherein the left unlocking station and the right unlocking station are symmetrically arranged; acquiring the right boundary point sequence of the left unlocking station and the left boundary point sequence of the right unlocking station, and obtaining the first trajectory point sequence interval corresponding to the unlocking station by mapping the length of the right boundary point sequence or the left boundary point sequence along the lane centerline direction of the trajectory; acquiring the first distance from the right boundary of the left unlocking station to the corresponding center trajectory point for each trajectory point in the first trajectory point sequence interval, and acquiring the second distance from the left boundary of the right unlocking station to the corresponding center trajectory point for each trajectory point in the first trajectory point sequence interval; and obtaining the first lateral deviation compensation value based on the first distance and the second distance. The third trajectory point sequence acquisition module is used to acquire a second lateral deviation compensation value based on the control tracking lateral deviation, and to obtain a third trajectory point sequence of the truck passing through the unlocking station based on the second lateral deviation compensation value and the second trajectory point sequence; wherein, acquiring the second lateral deviation compensation value based on the control tracking lateral deviation includes: collecting the maximum left lateral deviation and the maximum right lateral deviation between the actual position and the control position before the truck travels to the unlocking station; and using the difference between the collected maximum left lateral deviation and the maximum right lateral deviation as the second lateral deviation compensation value; The smoothing module is used to smooth the third trajectory point sequence of the truck passing through the unlocking station to obtain the final trajectory point sequence of the truck passing through the unlocking station.

7. An electronic device, characterized in that, The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions that the processor can execute. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the control method for automatic truck passage and unlocking stations in ports as described in any one of claims 1 to 5 are performed.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the control method for automatic truck passage unlocking stations within a port as described in any one of claims 1 to 5.

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