A method and system for unmanned multi-vehicle right-of-way management in a work zone

Abstract

The application provides a kind of working area unmanned multi-vehicle right-of-way management and control method and system, method includes: obtaining the position of vehicle and the vehicle path point set planned for vehicle in advance;According to the position of vehicle and the vehicle path point set planned for vehicle in advance, establish index attribute set;According to the vehicle path point set of vehicle, form lane and divide lane into conflict area and non-conflict area;According to the calculated conflict area and non-conflict area, calculate the vehicle capacity of each point of vehicle lane, and set the capacity attribute of the corresponding point in index attribute set as each point vehicle capacity;Calculate the capacity change of conflict area and area point when vehicle travels in the same direction or opposite direction, obtain vehicle capacity, update the capacity attribute of the corresponding point in index attribute set;Based on index attribute set, control vehicle to walk according to the path point set of the preset length.The application can balance the interests between different vehicles, avoid collision and traffic jam and other problems, ensure high safety and high efficiency.

Description

Technical Field

[0001] This invention patent belongs to the field of traffic control and relates to a method for arbitrating the right-of-way of unmanned vehicles within a limited area and for traffic control. Background Technology

[0002] In autonomous driving systems, different vehicles can use path planning algorithms to calculate their waypoint sets based on their current location and destination. However, if multiple vehicles are operating simultaneously within a work area, such as a loading or unloading zone, their routes will inevitably intersect. Simultaneous operation of multiple vehicles and intersection requisition are unavoidable scenarios in autonomous transportation. Since the paths of multiple autonomous vehicles may intersect or conflict, it is necessary to establish reasonable right-of-way control strategies to manage the occupation of conflict areas and the order of travel, balancing the interests of different vehicles to avoid collisions and traffic jams. Simultaneously, it is also necessary to consider how to optimize traffic flow and improve road efficiency. Right-of-way management methods and systems can prevent dangerous accidents such as path interactions and collisions between autonomous vehicles, and improve the efficiency of equipment passage within the work area.

[0003] Patent CN202210468073.8 provides a traffic control system and method for unmanned transportation in mines. It acquires vehicle location information and generates a vehicle's travel path based on this information, road segment information within the unmanned transportation area, and the vehicle's start and end points. Road segment information includes the road segment's attributes, the attributes of the routes within the segment, and the capacity information of each segment. The system transmits the vehicle's travel path to the vehicle via a communication device, enabling the vehicle to follow the path. The system divides roads on a map into segments with different attributes, each with its own driving rules and vehicle capacity, serving as factors in traffic control calculations to achieve unified management and control of unmanned vehicles on the route. However, patent CN202210468073.8 relies on different road segment attributes as factors in traffic control calculations to achieve unified management and control of unmanned vehicles on the route. This solution requires manual setting or review of road attributes on the map beforehand; incorrect attribute settings can lead to unexpected situations such as system crashes.

[0004] Patent CN202310311637.1 discloses a method and system for detecting right-of-way conflicts for unmanned vehicles in open-pit mines. It obtains key points from a mining area map that allow only single-vehicle passage and plans polygonal right-of-way conflict-prone areas centered on these key points. This allows for the detection of potential right-of-way conflicts before the unmanned vehicle enters these areas, preventing oncoming or collisional runs. However, patent CN202310311637.1's method of obtaining key points that allow only single-vehicle passage and planning polygonal right-of-way conflict-prone areas around these points allows vehicles to monopolize the passage. This solution requires pre-determining the key points for single-vehicle passage, and the generated areas are monopolized. This presents challenges in terms of manual selection and fails to address the issue of repeated one-way / two-way traffic, which can lead to vehicles getting stuck at one-way intersections. The control granularity is very coarse.

[0005] Patent CN202211024600.2 provides a dynamic right-of-way management method for multiple scenarios in open-pit mines. The right-of-way calculation unit, based on GPS location information and instructions from the right-of-way control unit, calculates the safety buffer zone for each unmanned vehicle according to the type of work area scenario, and formulates a right-of-way allocation strategy. Based on this strategy, right-of-way is allocated to each unmanned vehicle. However, patent CN202211024600.2 requires setting the scenario type to determine whether multiple vehicles are allowed to enter the site. Manual setting is prone to errors if not timely. Furthermore, this patent requires non-conflicting paths for multiple vehicles to operate; in actual operation, overlapping paths in the work area are common, therefore the method described in the patent has very low efficiency. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and system for managing the right-of-way of unmanned vehicles in a work area, balancing the interests of different vehicles, avoiding collisions and traffic jams, and ensuring high safety and high efficiency.

[0007] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a method for managing the right-of-way of multiple unmanned vehicles within a work area, comprising the following steps:

[0009] Step 1: Obtain the vehicle's location and the pre-planned set of vehicle path points; based on the vehicle's location and the pre-planned set of vehicle path points, establish an index attribute set;

[0010] Step 2: Based on the vehicle's path point set, form lanes and divide the lanes into conflict zones and non-conflict zones;

[0011] Step 3: Based on the calculated conflict zone and non-conflict zone, calculate the vehicle capacity at each point in the vehicle lane, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set.

[0012] Step 4: Calculate the capacity change of the conflict zone and points within the zone when vehicles travel in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set.

[0013] Step 5: Based on the index attribute set, search for points within a preset length that meet the capacity attribute conditions along the current position of each vehicle to obtain a path point set of the preset length. Output the path point set of the preset length to the vehicle and control the vehicle to travel according to the path point set of the preset length.

[0014] Furthermore, the vehicle's location and a pre-planned set of vehicle waypoints are obtained. Based on the vehicle's location and the pre-planned set of vehicle waypoints, an index attribute set is established, including:

[0015] The path planning algorithm generates path nodes with equal distances and fixed intervals. The path planning algorithm uses a hybrid A* algorithm.

[0016] Sort the set of vehicle waypoints;

[0017] Starting from the first point where the vehicle is about to travel, number it 0, and then increment it sequentially to create an index, along with an index attribute set.

[0018] Furthermore, based on the vehicle's path point set, lanes are formed and divided into conflict zones and non-conflict zones, including:

[0019] Step 2.1: Expand the vehicle path point set outward to obtain vehicle lanes; for the current lane, perform intersection calculations with other existing lanes to obtain independent conflict zones;

[0020] Step 2.2: Detect whether the independent conflict zones should be merged. Merge independent conflict zones that should be merged into one conflict zone, and search sequentially until the end of the road;

[0021] Step 2.3: Create an index for the conflict zone and save its spatial graph and related information such as the lanes corresponding to the conflict zone, and the node indexes of the entry and exit nodes on the corresponding lanes.

[0022] Furthermore, the vehicle path point set is expanded outwards, and the radial direction of the path point set is increased by the necessary vehicle width and spacing, expanding by a certain distance to obtain a polygonal region, i.e., a lane.

[0023] Further, step 2.2: Detect whether the individual conflict zones should be merged, including:

[0024] If the distance between any two independent conflict zones is less than the length threshold after the vehicle expands, the two independent conflict zones are merged into one conflict zone, and this process is repeated sequentially.

[0025] Further, step 3: Based on the calculated conflict and non-conflict zones, calculate the vehicle capacity at each point in the vehicle lane, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set, including:

[0026] Step 3.1: After the conflict zone is processed, the lane becomes several polygonal regions composed of conflict zones and non-conflict zones. At the same time, the start node and end node of the road corresponding to different regions are recorded.

[0027] Step 3.2: The capacity of all conflict zones is 1. In non-conflict zones, the capacity of the road is obtained by dividing its length or area size by the size of the inflated unmanned vehicle.

[0028] Step 3.3: Set the capacity attribute for the points corresponding to the area. The attribute value starts with 1 at the end of the road and is calculated sequentially towards the starting point of the road. The capacity within the corresponding range of each area is accumulated sequentially, and this capacity is set to the road node.

[0029] Step 3.4: Calculate the current number of vehicles at each point as the total number of vehicles at this point and up to the first conflict zone or road end occupied by an oncoming vehicle.

[0030] Furthermore, the expanded size of the unmanned vehicle is the same as the expanded size when the vehicle is stationary. The expanded size of the unmanned vehicle = expansion in the direction of travel + expansion at speed in the direction of travel + expansion of the vehicle body.

[0031] Further, step 4: Calculate the conflict zone and the capacity change of points within the zone when vehicles travel in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set, including:

[0032] When vehicles pass through an upcoming conflict zone in the same direction, the capacity of the conflict zone remains unchanged, and the capacity of points on the route preceding this conflict zone also remains unchanged. The upcoming conflict zone is defined as a conflict zone in a direction where the index value is greater than the current point's index; the route preceding the conflict zone is defined as a route where the index value is less than the current point's index value within the conflict zone.

[0033] When a vehicle passes through the conflict zone ahead in the opposite direction, the capacity of all points in the current lane within the zone becomes 0. At the same time, the capacity of the points before this conflict zone in this lane is recalculated, using this conflict zone as the starting point.

[0034] Once oncoming vehicles have left the conflict zone, all altered point capacities within that zone revert to their previous values. Simultaneously, the capacities of points on the road whose capacities were altered due to the conflict zone also revert to their previous values.

[0035] Furthermore, methods for determining whether vehicles are traveling in the same or opposite direction include:

[0036] The course point is used to determine the direction of travel. If the angle between the course point and the vehicle's current course is within 60 degrees, the vehicle is traveling in the same direction; otherwise, it is traveling in the opposite direction.

[0037] Further, step 5: Based on the index attribute set, search for points within a preset length that satisfy the capacity attribute condition along the current position of each vehicle to obtain a path point set of the preset length. Output the path point set of the preset length to the vehicle and control the vehicle to travel according to the path point set of the preset length, including:

[0038] Based on the index attribute set, search for points with a capacity attribute greater than the current number of vehicles along the current position of each vehicle within a preset length, and add them to the path point set of the preset length.

[0039] A path point set of preset length is output to the vehicle, and the vehicle is controlled to travel according to the path point set of preset length.

[0040] If the vehicle travels to the end of a path point set of preset length and no new path point set of preset length is issued, then the vehicle is controlled to stop at the end of the path point set of preset length.

[0041] Furthermore, the method also includes:

[0042] When multiple vehicles compete for a space at the same time, the passage priority of the vehicles is determined by: obtaining the priority evaluation dimension data of the vehicles, comparing the priority evaluation dimensions in turn, and determining the passage priority of the vehicles when the data of a certain dimension is inconsistent.

[0043] The capacity attribute of the corresponding point in the index attribute set is updated based on the traffic priority of the vehicles passing through: the capacity attribute of the corresponding point in the index attribute set of the vehicle with the highest traffic priority is unaffected, while the capacity of all points in the current lane within the area for vehicles with lower priority becomes 0. At the same time, the capacity of the points before this conflict zone in this lane is recalculated, starting from this conflict zone.

[0044] Once the vehicle with higher priority leaves the conflict zone, the capacity of all points in that conflict zone that had been altered returns to their previous values. Simultaneously, the capacity of points on this road that had previously had their capacity altered due to the conflict zone also returns to their previous values.

[0045] Furthermore, the priority evaluation dimensions include: vehicle load, vehicle distance traveled through this area, vehicle speed, and uphill / downhill dimensions.

[0046] When comparing the load capacity of vehicles competing for a given area, those with greater load capacity take priority.

[0047] If the load is the same, compare the distance the vehicles travel through this area, and prioritize the longer distance.

[0048] If vehicles travel the same distance through this area, their speeds are compared, with the faster vehicle taking priority.

[0049] If the vehicles are traveling at the same speed, compare uphill / downhill, with downhill taking priority;

[0050] If all obtained priority values ​​are the same, they are sorted according to the vehicle VIN code.

[0051] Furthermore, the method also includes:

[0052] The exclusive area of ​​a vehicle is dynamically calculated based on its direction of travel and speed.

[0053] An exclusive lane can only be occupied by that vehicle; no other vehicle has the right to access the waypoints contained within that lane. The exclusive lane extends along the route. If an exclusive lane overlaps with the exclusive lanes of other vehicles, that vehicle will not request subsequent right-of-way in that lane.

[0054] The expansion of the exclusive area is directly proportional to the square of the speed. Exclusive area = expansion in front of the direction of travel + expansion of the speed in the direction of travel + expansion of the vehicle body + expansion behind the speed of travel.

[0055] Secondly, the present invention provides an unmanned multi-vehicle right-of-way management system for a work area, comprising:

[0056] The path index organization module is used to obtain the vehicle's location and the pre-planned set of vehicle path points; and to build an index attribute set based on the vehicle's location and the pre-planned set of vehicle path points.

[0057] The conflict zone calculation and indexing module is used to form lanes and divide lanes into conflict zones and non-conflict zones based on the vehicle waypoint set of the vehicle.

[0058] The area capacity calculation module is used to calculate the vehicle capacity at each point of the vehicle lane based on the calculated conflict zone and non-conflict zone, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set.

[0059] The vehicle collision capacity calculation module is used to calculate the capacity change of the collision zone and points within the zone when vehicles are traveling in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set.

[0060] The output module is used to search for points with capacity attributes that meet the conditions within a preset length along the current position of each vehicle based on the index attribute set, to obtain a path point set of the preset length, and output the path point set of the preset length to the vehicle to control the vehicle to travel according to the path point set of the preset length.

[0061] Furthermore, the path indexing module obtains the vehicle's location and a pre-planned set of vehicle path points, and establishes an index attribute set based on the vehicle's location and the pre-planned set of vehicle path points, including:

[0062] The path planning algorithm generates path nodes with equal distances and fixed intervals. The path planning algorithm uses a hybrid A* algorithm.

[0063] Sort the set of vehicle waypoints;

[0064] Starting from the first point where the vehicle is about to travel, number it 0, and then increment it sequentially to create an index, along with an index attribute set.

[0065] Furthermore, the conflict area calculation and indexing module forms lanes and divides them into conflict and non-conflict zones based on the vehicle's path point set, including:

[0066] Step 2.1: Expand the vehicle path point set of the current vehicle outward to obtain the current lane; for the current lane, perform intersection calculations with other existing lanes to obtain independent conflict zones;

[0067] Step 2.2: Detect whether the independent conflict zones should be merged. Merge independent conflict zones that should be merged into one conflict zone, and search sequentially until the end of the road;

[0068] Step 2.3: Create an index for the conflict zone and save its spatial graph and related information such as the lanes corresponding to the conflict zone, and the node indexes of the entry and exit nodes on the corresponding lanes.

[0069] Further, step 2.2: Detect whether the individual conflict zones should be merged, including:

[0070] If the distance between any two independent conflict zones is less than the length threshold after the vehicle expands, the two independent conflict zones are merged into one conflict zone, and this process is repeated sequentially.

[0071] Furthermore, the area capacity calculation module calculates the vehicle capacity at each point in the vehicle lane based on the calculated conflict and non-conflict zones, and sets the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set, including:

[0072] Step 3.1: After the conflict zone is processed, the lane becomes several polygonal regions composed of conflict zones and non-conflict zones. At the same time, the start node and end node of the road corresponding to different regions are recorded.

[0073] Step 3.2: The capacity of all conflict zones is 1. In non-conflict zones, the capacity of the road is obtained by dividing its length or area size by the size of the inflated unmanned vehicle.

[0074] Step 3.3: Set the capacity attribute for the points corresponding to the area. The attribute value starts with 1 at the end of the road and is calculated sequentially towards the starting point of the road. The capacity within the corresponding range of each area is accumulated sequentially, and this capacity is set to the road node.

[0075] Step 3.4: Calculate the current number of vehicles at each point as the total number of vehicles at this point and up to the first conflict zone or road end occupied by an oncoming vehicle.

[0076] Furthermore, the expanded size of the unmanned vehicle is the same as the expanded size when the vehicle is stationary. The expanded size of the unmanned vehicle = expansion in the direction of travel + expansion at speed in the direction of travel + expansion of the vehicle body.

[0077] Furthermore, the vehicle collision capacity calculation module calculates the capacity changes of the collision zone and points within the zone when vehicles are traveling in the same or opposite directions, obtains the vehicle capacity, and updates the capacity attributes of the corresponding points in the index attribute set, including:

[0078] When vehicles pass through an upcoming conflict zone in the same direction, the capacity of the conflict zone remains unchanged, and the capacity of points on the route preceding this conflict zone also remains unchanged. The upcoming conflict zone is defined as a conflict zone in a direction where the index value is greater than the current point's index; the route preceding the conflict zone is defined as a route where the index value is less than the current point's index value within the conflict zone.

[0079] When a vehicle passes through the conflict zone ahead in the opposite direction, the capacity of all points in the current lane within the zone becomes 0. At the same time, the capacity of the points before this conflict zone in this lane is recalculated, using this conflict zone as the starting point.

[0080] Once oncoming vehicles have left the conflict zone, all altered point capacities within that zone revert to their previous values. Simultaneously, the capacities of points on the road whose capacities were altered due to the conflict zone also revert to their previous values.

[0081] Furthermore, methods for determining whether vehicles are traveling in the same or opposite direction include:

[0082] The course point is used to determine the direction of travel. If the angle between the course point and the vehicle's current course is within 60 degrees, the vehicle is traveling in the same direction; otherwise, it is traveling in the opposite direction.

[0083] Furthermore, the output module, based on the index attribute set, searches forward along the current position of each vehicle for points within a preset length whose capacity attributes meet the conditions, obtaining a path point set of the preset length. This path point set of the preset length is then output to the vehicles, controlling them to travel according to the path point set of the preset length. This includes:

[0084] Based on the index attribute set, search for points with a capacity attribute greater than the current number of vehicles along the current position of each vehicle within a preset length, and add them to the path point set of the preset length.

[0085] A path point set of preset length is output to the vehicle, and the vehicle is controlled to travel according to the path point set of preset length.

[0086] If the vehicle travels to the end of a path point set of preset length and no new path point set of preset length is issued, then the vehicle is controlled to stop at the end of the path point set of preset length.

[0087] Furthermore, the system also includes a dynamic arbitration module for conflict zones, used for:

[0088] When multiple vehicles compete for a space at the same time, the passage priority of the vehicles is determined by: obtaining the priority evaluation dimension data of the vehicles, comparing the priority evaluation dimensions in turn, and determining the passage priority of the vehicles when the data of a certain dimension is inconsistent.

[0089] The capacity attribute of the corresponding point in the index attribute set is updated based on the traffic priority of the vehicles passing through: the capacity attribute of the corresponding point in the index attribute set of the vehicle with the highest traffic priority is unaffected, while the capacity of all points in the current lane within the area for vehicles with lower priority becomes 0. At the same time, the capacity of the points before this conflict zone in this lane is recalculated, starting from this conflict zone.

[0090] Once the vehicle with higher priority leaves the conflict zone, the capacity of all points in that conflict zone that had been altered returns to their previous values. Simultaneously, the capacity of points on this road that had previously had their capacity altered due to the conflict zone also returns to their previous values.

[0091] Furthermore, the priority evaluation dimensions include: vehicle load, vehicle distance traveled through this area, vehicle speed, and uphill / downhill dimensions.

[0092] When comparing the load capacity of vehicles competing for a given area, those with greater load capacity take priority.

[0093] If the load is the same, compare the distance the vehicles travel through this area, and prioritize the longer distance.

[0094] If vehicles travel the same distance through this area, their speeds are compared, with the faster vehicle taking priority.

[0095] If the vehicles are traveling at the same speed, compare uphill / downhill, with downhill taking priority;

[0096] If all obtained priority values ​​are the same, they are sorted according to the vehicle VIN code.

[0097] Furthermore, the system also includes a dynamic exclusive zone calculation module, used for:

[0098] The exclusive area of ​​a vehicle is dynamically calculated based on its direction of travel and speed.

[0099] An exclusive lane can only be occupied by that vehicle; no other vehicle has the right to access the waypoints contained within that lane. The exclusive lane extends along the route. If an exclusive lane overlaps with the exclusive lanes of other vehicles, that vehicle will not request subsequent right-of-way in that lane.

[0100] The expansion of the exclusive area is directly proportional to the square of the speed. Exclusive area = expansion in front of the direction of travel + expansion of the speed in the direction of travel + expansion of the vehicle body + expansion behind the speed of travel.

[0101] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0102] 1. This invention calculates the set of path points that different vehicles are authorized to travel on based on the paths generated by the path algorithm and the vehicle's current location. This ensures that vehicles do not enter path conflict areas simultaneously with other vehicles, avoiding collisions, and also prevents roadblocks caused by right-of-way contention. The final output of the system is a fixed-length string of points. For example, authorization for 100 meters of road is sent to a vehicle at a time, and this authorization is continuously sent to vehicles as they move.

[0103] 2. This invention designs a right-of-way arbitration and control system within a working area and provides a right-of-way arbitration and control processing logic and method within a limited area to balance the interests of different vehicles, avoid collisions and traffic jams, and ensure high safety and high efficiency.

[0104] 3. Supports multi-vehicle collaborative operation within the site, ensuring vehicle operation safety within the work area and preventing route conflicts.

[0105] 4. Supports multiple scenarios, eliminating the need for any operations such as drawing, setting lane attributes, or mutual exclusion; all calculations are performed automatically by the computer.

[0106] 5. The granularity is controlled to the point, and the finer granularity can adapt to more complex and narrow areas.

[0107] 6. To prevent vehicles from getting stuck, and to plan vehicle movement as rationally as possible to improve traffic efficiency. Attached Figure Description

[0108] Figure 1 This is a diagram illustrating lane expansion;

[0109] Figure 2 This is a diagram illustrating the vehicle's dynamic exclusive zone.

[0110] Figure 3 This is a diagram illustrating the path point index values;

[0111] Figure 4 This is a schematic diagram of the vehicle's (already traveled) route;

[0112] Figure 5 This is a diagram illustrating conflict zone detection;

[0113] Figure 6 This is a flowchart of the conflict zone detection process;

[0114] Figure 7 This is a road capacity diagram;

[0115] Figure 8 This is a schematic diagram of same-direction / opposite-direction detection;

[0116] Figure 9 This is a schematic diagram of the system modules;

[0117] Figure 10 This is a schematic diagram of the dynamic right-of-way zone for vehicles;

[0118] Figure 11 This is a diagram showing the number of vehicles present at each path point;

[0119] Figure 12 This is a schematic diagram for calculating the passing capacity in the conflict zone. Detailed Implementation

[0120] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0121] Definitions of abbreviations and key terms:

[0122] 1. Lane Expansion: The system plans a path for the autonomous vehicle as a series of points, but vehicles have a certain length and width. For safety, the vehicle is often expanded. Lane expansion involves expanding the set of path points into a region based on the vehicle's safe expansion length and width, ensuring that the expanded outer contour of the vehicle does not exceed the expanded lane area. Please refer to [reference needed]. Figure 1 .

[0123] 2. Dynamic Vehicle Exclusive Zone: A dynamic vehicle exclusive zone is a zone dynamically generated based on a vehicle's forward (reverse) direction and speed while it is traveling on a designated road. No other vehicle can enter this exclusive zone, and its length is dynamically related to its speed. Please refer to [reference needed]. Figure 2 .

[0124] 3. Path Point Index Values: The paths planned by the system for autonomous vehicles are sets of points. After obtaining these point sets, the right-of-way management system indexes all points along the path. The first point the vehicle needs to visit has an index of 0, and the indices increment sequentially, with an index attribute set created for each point. This index attribute set allows for quick setting and modification of attributes for each point. Please refer to [reference needed]. Figure 3 .

[0125] 4. Vehicle's Untraveled (Already Traveled) Paths: Vehicles travel along the path, progressing sequentially from points with smaller indices to points with larger indices. Paths already traveled are considered "traveled" paths, while untraveled paths are considered "untraveled" paths. Please refer to [reference needed]. Figure 2 The judgment is based on a comparison between the index value of the vehicle's current location and the path index value. Points with path index values ​​lower than the vehicle's current location are considered to have been visited; points with path index values ​​higher than the vehicle's current path index value are considered to have not been visited. Please refer to [reference needed]. Figure 4 .

[0126] 5. Independent Conflict Zones and Conflict Zones: Independent conflict zones are the first areas of path overlap obtained during intersection calculations after lane expansion. If two independent conflict zones are too close together to accommodate vehicles in between, they are merged into one conflict zone, and the process continues sequentially. Please refer to [link to documentation] for details on independent conflict zones and conflict zones. Figure 5 .

[0127] 6. Road Capacity: The capacity of all conflict zones is 1. In non-conflict zones, the road capacity is obtained by dividing its length or area size by the expanded size of the unmanned vehicle. Simultaneously, a capacity attribute is set for the corresponding points within the area, starting with 1 at the road's end and calculating sequentially. Please refer to [reference needed]. Figure 7 .

[0128] 7. Same-direction / Opposite-direction: The determination of same-direction and opposite-direction vehicles is based on the heading of this path point and the vehicle's current heading. A 60-degree angle between these two points is considered same-direction; otherwise, it's considered opposite-direction. Due to the curvature constraint of the algorithm, the algorithm will always adhere to this constraint when planning paths for vehicles. Therefore, when entering an area, only the angle between the first point of entry into the area and the vehicle's heading is needed to ensure accurate determination of whether the vehicles are traveling in the same or opposite direction. Please refer to [reference needed]. Figure 8 .

[0129] Example 1:

[0130] This embodiment provides a method for managing the right-of-way for unmanned vehicles within a work area, including the following steps:

[0131] Step 1: Obtain the vehicle's location and the pre-planned set of vehicle path points; based on the vehicle's location and the pre-planned set of vehicle path points, establish an index attribute set;

[0132] Step 2: Based on the vehicle's path point set, form lanes and divide the lanes into conflict zones and non-conflict zones;

[0133] Step 3: Based on the calculated conflict zone and non-conflict zone, calculate the vehicle capacity at each point in the vehicle lane, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set.

[0134] Step 4: Calculate the capacity change of the conflict zone and points within the zone when vehicles travel in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set.

[0135] Step 5: Based on the index attribute set, search for points within a preset length that meet the capacity attribute conditions along the current position of each vehicle to obtain a path point set of the preset length. Output the path point set of the preset length to the vehicle and control the vehicle to travel according to the path point set of the preset length.

[0136] Preferably, the vehicle's location and a pre-planned set of vehicle path points are obtained. Based on the vehicle's location and the pre-planned set of vehicle path points, an index attribute set is established, including:

[0137] The path planning algorithm generates path nodes with equal distances and fixed intervals. The path planning algorithm uses a hybrid A* algorithm.

[0138] Sort the set of vehicle waypoints;

[0139] Starting from the first point where the vehicle is about to travel, number it 0, and then increment it sequentially to create an index, along with an index attribute set.

[0140] Preferably, based on the vehicle's waypoint set, lanes are formed and the lanes are divided into conflict zones and non-conflict zones, including:

[0141] Step 2.1: Expand the vehicle path point set of the current vehicle outward to obtain the current lane; for the current lane, perform intersection calculations with other existing lanes to obtain independent conflict zones;

[0142] Expanding the vehicle path point set outwards involves radially increasing the necessary vehicle width and spacing, expanding it by a certain distance to obtain a polygonal region, i.e., a lane.

[0143] Step 2.2: Detect whether the independent conflict zones should be merged. Merge independent conflict zones that should be merged into one conflict zone, and search sequentially until the end of the road;

[0144] Step 2.3: Create an index for the conflict zone and save its spatial graph and related information such as the lanes corresponding to the conflict zone, and the node indexes of the entry and exit nodes on the corresponding lanes.

[0145] The lane is actually a set of points. However, when a mining truck travels on this set of points, the resulting area is not a set of points, but a winding rectangle.

[0146] Each vehicle's lane is planned by a path planning algorithm. When planning, the algorithm does not consider whether there is a conflict between the route of other vehicles and the route of this vehicle.

[0147] Then, in this system, these points are expanded using the same expansion parameters as the vehicle expansion parameters. As a result, these points become a series of meandering rectangular regions.

[0148] If there is only one vehicle in the system, then there are no other lanes; it is the only lane available to that vehicle, and there will be no conflict. Multiple vehicles sharing a lane will cause conflicts, so this method determines right-of-way to reduce these conflicts.

[0149] Preferably, step 2.2: detecting whether the independent conflict zones should be merged, including:

[0150] If the distance between any two independent conflict zones is less than the length threshold after the vehicle expands, the two independent conflict zones are merged into one conflict zone, and this process is repeated sequentially.

[0151] Preferably, step 3: Based on the calculated conflict zones and non-conflict zones, calculate the vehicle capacity at each point in the vehicle lane, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set, including:

[0152] Step 3.1: After the conflict zone is processed, the lane becomes several polygonal regions composed of conflict zones and non-conflict zones. At the same time, the start node and end node of the road corresponding to different regions are recorded.

[0153] Step 3.2: The capacity of all conflict zones is 1. In non-conflict zones, the capacity of the road is obtained by dividing its length or area size by the size of the inflated unmanned vehicle.

[0154] Step 3.3: Set the capacity attribute for the points corresponding to the area. The attribute value starts with 1 at the end of the road and is calculated sequentially towards the starting point of the road. The capacity within the corresponding range of each area is accumulated sequentially, and this capacity is set to the road node.

[0155] like Figure 3 As shown. In reality, the path calculated by the path planning algorithm is composed of individual points. The method used is to assign a vehicle capacity value to each point. For example, if a point can accommodate 5 vehicles, then that point has a vehicle capacity of 5.

[0156] Step 3.4: Calculate the current number of vehicles at each point as the total number of vehicles at this point and up to the first conflict zone or road end occupied by an oncoming vehicle.

[0157] Preferably, the size of the unmanned vehicle after expansion is the same as the size of the vehicle when it is stationary. The size of the unmanned vehicle after expansion = expansion in the direction of travel + expansion at speed in the direction of travel + expansion of the vehicle body.

[0158] Preferably, step 4: Calculate the capacity change of the conflict zone and points within the zone when vehicles travel in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set, including:

[0159] When vehicles pass through an upcoming conflict zone in the same direction, the capacity of the conflict zone remains unchanged, and the capacity of points on the route preceding this conflict zone also remains unchanged. The upcoming conflict zone is defined as a conflict zone in a direction where the index value is greater than the current point's index; the route preceding the conflict zone is defined as a route where the index value is less than the current point's index value within the conflict zone.

[0160] When a vehicle passes through the conflict zone ahead in the opposite direction, the capacity of all points in the current lane within the zone becomes 0. At the same time, the capacity of the points before this conflict zone in this lane is recalculated, using this conflict zone as the starting point.

[0161] Once oncoming vehicles have left the conflict zone, all altered point capacities within that zone revert to their previous values. Simultaneously, the capacities of points on the road whose capacities were altered due to the conflict zone also revert to their previous values.

[0162] Preferably, the method for determining whether vehicles are traveling in the same or opposite direction includes:

[0163] The course point is used to determine the direction of travel. If the angle between the course point and the vehicle's current course is within 60 degrees, the vehicle is traveling in the same direction; otherwise, it is traveling in the opposite direction.

[0164] Preferably, step 5: Based on the index attribute set, search for points within a preset length that satisfy the capacity attribute condition along the current position of each vehicle to obtain a path point set of the preset length, output the path point set of the preset length to the vehicle, and control the vehicle to travel according to the path point set of the preset length, including:

[0165] Based on the index attribute set, search for points with a capacity attribute greater than the current number of vehicles along the current position of each vehicle within a preset length, and add them to the path point set of the preset length.

[0166] A path point set of preset length is output to the vehicle, and the vehicle is controlled to travel according to the path point set of preset length.

[0167] If the vehicle travels to the end of a path point set of preset length and no new path point set of preset length is issued, then the vehicle is controlled to stop at the end of the path point set of preset length.

[0168] exist Figure 12 In the diagram, the number within the dotted box at the top represents the maximum number of vehicles that point can accommodate. If the road ahead from this point is filled with vehicles, this is the maximum number that can be parked. When the capacity changes, it inevitably affects the number of vehicles that can enter this point. If the maximum number of vehicles that this point can accommodate becomes 1, then only 1 or 2 vehicles are allowed to enter this point; any more than that will cause a traffic jam.

[0169] Therefore, when calculating whether a vehicle has the right-of-way at a given point, it is necessary to make a judgment based on the number of vehicles that the current point can accommodate.

[0170] Note that point capacity and road capacity are used to calculate vehicle right-of-way; these attributes are not distributed. The final output is a path point set of a certain length. It is exactly the same as the point set provided at the beginning of the algorithm, containing data such as latitude and longitude, heading angle, and gear position, except that it is only a segment of a road.

[0171] Preferably, the method further includes:

[0172] When multiple vehicles compete for a space at the same time, the passage priority of the vehicles is determined by: obtaining the priority evaluation dimension data of the vehicles, comparing the priority evaluation dimensions in turn, and determining the passage priority of the vehicles when the data of a certain dimension is inconsistent.

[0173] The capacity attribute of the corresponding point in the index attribute set is updated based on the traffic priority of the vehicles passing through: the capacity attribute of the corresponding point in the index attribute set of the vehicle with the highest traffic priority is unaffected, while the capacity of all points in the current lane within the area for vehicles with lower priority becomes 0. At the same time, the capacity of the points before this conflict zone in this lane is recalculated, starting from this conflict zone.

[0174] Once the vehicle with higher priority leaves the conflict zone, the capacity of all points in that conflict zone that had been altered returns to their previous values. Simultaneously, the capacity of points on this road that had previously had their capacity altered due to the conflict zone also returns to their previous values.

[0175] Preferably, the priority evaluation dimensions include: vehicle load, vehicle distance traveled through the area, vehicle speed, and uphill / downhill dimensions.

[0176] When comparing the load capacity of vehicles competing for a given area, those with greater load capacity take priority.

[0177] If the load is the same, compare the distance the vehicles travel through this area, and prioritize the longer distance.

[0178] If vehicles travel the same distance through this area, their speeds are compared, with the faster vehicle taking priority.

[0179] If the vehicles are traveling at the same speed, compare uphill / downhill, with downhill taking priority;

[0180] If all obtained priority values ​​are the same, they are sorted according to the vehicle VIN code.

[0181] Preferably, the method further includes:

[0182] The exclusive area of ​​a vehicle is dynamically calculated based on its direction of travel and speed.

[0183] An exclusive lane can only be occupied by that vehicle; no other vehicle has the right to access the waypoints contained within that lane. The exclusive lane extends along the route. If an exclusive lane overlaps with the exclusive lanes of other vehicles, that vehicle will not request subsequent right-of-way in that lane.

[0184] The expansion of the exclusive area is directly proportional to the square of the speed. Exclusive area = expansion in front of the direction of travel + expansion of the speed in the direction of travel + expansion of the vehicle body + expansion behind the speed of travel.

[0185] If the distance between points is 0.5 meters, the front of the vehicle expands by 10 meters, the rear by 5 meters, and the vehicle's length expands to 8 meters, then the exclusive right-of-way zone is 10 + 8 + 5 meters. All points within this zone can only be exclusively occupied by that one vehicle.

[0186] In general, the data processing steps of this application are as follows:

[0187] 1. First, after the algorithm plans the route for the vehicle, the system will create a sequence index for each point on this new route, which includes the order of each point on the route and information such as the current capacity.

[0188] 2. Then, in this system, the points are expanded to form a polygonal region.

[0189] 3. Then, this polygonal region is compared with the expanded paths of other vehicles already existing in the system to obtain independent conflict zones, and finally the conflict zones are calculated.

[0190] 4. Next, the conflict zone and the non-conflict zone have a certain length, which can be simply understood as dividing by a value to get the number of vehicles that the non-conflict zone can accommodate.

[0191] 5. The exclusive zone is calculated based on the direction of travel, mainly for conflict zones. For example, if two vehicles are traveling towards each other, one in front of the other, they can both enter the conflict zone simultaneously because they are not traveling head-on. If the two vehicles are traveling towards each other, they obviously cannot enter at the same time.

[0192] 6. If two vehicles are traveling in opposite directions and vying for a conflict zone, a decision shall be made based on their priority.

[0193] 7. Please refer to [link / reference] for information on how the conflict zone capacity changes. Figure 12 When an oncoming vehicle enters the conflict zone, that vehicle cannot enter the conflict zone; otherwise, if both oncoming vehicles enter the conflict zone, they will be stuck and neither can pass. However, if two vehicles enter one after the other in the same direction, they may be able to pass in turn.

[0194] This invention calculates the set of path points that different vehicles are authorized to travel on, based on the paths generated by the path algorithm and the vehicle's current location. This ensures that vehicles do not simultaneously enter path conflict areas, avoiding collisions, and also prevents roadblocks caused by right-of-way contention. The final output of the system is a fixed-length string of points. For example, authorization for 100 meters of road is sent to a vehicle at a time, and this authorization is continuously sent to vehicles as they move.

[0195] Example 2:

[0196] To achieve this objective, this embodiment provides the following: Figure 9 The unmanned multi-vehicle right-of-way management system shown includes at least the following six modules: path index organization module, conflict area calculation and indexing module, area capacity calculation module, vehicle dynamic exclusive area calculation module, conflict area dynamic arbitration module, and meeting vehicle conflict capacity calculation module.

[0197] The modules are interconnected. The results of index and region conflict calculations will be used in later modules.

[0198] The input to this system is actually the location of different vehicles and the set of waypoints pre-planned for these vehicles. The output is the paths that they are authorized to travel.

[0199] The vehicle waypoint set is obtained through a path planning algorithm. The path planning algorithm generates path nodes with equal distances and fixed intervals.

[0200] Because the planned routes may intersect or conflict, the function of this system is to identify the conflicting routes and prevent vehicles from entering the conflict area simultaneously.

[0201] The calculated waypoints are the paths that vehicles are authorized to take, and the set of waypoints that vehicles are authorized to take will be continuously distributed to different vehicles.

[0202] The path index sorting module is used to sort the set of vehicle path points calculated by the system. Starting from the first point a vehicle is about to travel to, it is numbered 0, and then incremented sequentially to create an index, along with an index attribute set. The index attribute set records the relevant attributes of this point, including but not limited to lane capacity at the point's location, point type, and other related information, facilitating system retrieval and use.

[0203] The conflict area calculation and indexing module is used to calculate the conflict area between the vehicle lane and other lanes, such as... Figure 5 , Figure 6 As shown. The specific process is as follows:

[0204] 1) Calculate all independent conflict zones between this expansion lane and other expansion lanes through intersection calculation;

[0205] 2) Starting from the beginning node of this lane, search backwards. If there is no room for an autonomous vehicle between two independent conflict zones, merge the two independent conflict zones into one conflict zone. Then use this conflict zone as an independent conflict zone to check with the next independent conflict zone to determine whether an autonomous vehicle can be accommodated in the middle. Execute this judgment logic in sequence until the end of the road.

[0206] 3) Create an index for the conflict zone of this lane, save its spatial graph and the index values ​​of the path points entering and leaving this area on the corresponding lane, to facilitate subsequent calculations.

[0207] The area capacity calculation module is used to calculate the number of devices that each area can accommodate. After being processed by the conflict zone module, a road becomes several polygonal areas composed of conflict zones and non-conflict zones. The system records the start and end nodes of the nodes on the road corresponding to different areas. For example, if the road number ranges from 0 to 3000 and the point index of the area ranges from 500 to 580, then two values, 500 and 580, are recorded for quick comparison, sorting, and indexing.

[0208] Then, starting from the end of this route, calculate the vehicle capacity for each region. Then, starting from the end of the road, increment the vehicle capacity of each road node from 1, accumulating the corresponding vehicle capacity for each region, such as... Figure 7 As shown. Please note that the calculation is not done by directly dividing the entire road length by the vehicle expansion width; it is essential to calculate the values ​​for each segmented area separately and then sum them up.

[0209] When there are multiple vehicles traveling in the same direction on a route, the current number of vehicles at each point is the sum of the number of vehicles at that point and all vehicles in the road area after that point. For example... Figure 11 As shown.

[0210] The vehicle dynamic exclusive zone calculation module is used to dynamically calculate the exclusive zone based on the vehicle's travel direction and speed. This exclusive zone can only be occupied by that vehicle; no other vehicle has the right to access the waypoints contained within this zone. The dynamic right-of-way zone consists of a calculation zone, a deceleration zone, and a parking zone, extending along the route. The parking zone of this dynamic right-of-way zone cannot overlap with other vehicle dynamic right-of-way zones; if they do, subsequent right-of-way requests will not be made. The expansion of the exclusive zone is directly proportional to the square of the speed: Exclusive Zone = Expansion in front of the travel direction + Expansion of the travel direction speed + Expansion of the vehicle body + Expansion behind the travel speed. Figure 10 As shown.

[0211] The dynamic arbitration module for conflict zones is used to determine passage priority when vehicles simultaneously contend for the same area. The evaluation dimensions for passage priority include, but are not limited to: vehicle load, distance traveled through the area, vehicle speed, and whether it's uphill / downhill. If the obtained priorities are the same, they are sorted according to the vehicle's VIN code, ensuring that different vehicles will necessarily have different priorities.

[0212] The vehicle collision capacity calculation module is used to calculate how the vehicle capacity changes in the conflict zone and points within the zone when vehicles are traveling in the same or opposite directions. The specific implementation process is as follows:

[0213] 1) When vehicles pass through a conflict zone in the same direction, the capacity of the conflict zone remains unchanged. Therefore, the capacity of points on the route before this conflict zone (i.e., the route whose index value is less than the current point index value of this conflict zone) does not change.

[0214] 2) When a vehicle enters this conflict zone from the opposite direction, the capacity of all points in this lane within this conflict zone, except for the lane occupied by the oncoming vehicle, becomes 0. That is, this conflict zone can no longer accommodate vehicles from this lane. At the same time, the capacity of the points in this lane before this conflict zone (i.e., the route with an index value less than the current index value of this conflict zone) is recalculated, starting from this conflict zone.

[0215] 3) Once oncoming vehicles leave the conflict zone, the capacity of all points in the conflict zone that have changed will revert to their previous values. Simultaneously, the capacity of points on this road that previously had their capacity changed due to the conflict zone will also revert to their previous values.

[0216] like Figure 12 As shown.

[0217] This invention calculates the set of path points that different vehicles are authorized to travel on, based on the paths generated by the path algorithm and the vehicle's current location. This ensures that vehicles do not simultaneously enter path conflict areas, avoiding collisions, and also prevents roadblocks caused by right-of-way contention. The final output of the system is a fixed-length string of points. For example, authorization for 100 meters of road is sent to a vehicle at a time, and this authorization is continuously sent to vehicles as they move.

[0218] The apparatus in this embodiment can be used to implement the method described in Embodiment 1.

[0219] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0220] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0221] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0222] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0223] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for managing the right-of-way for unmanned multi-vehicle vehicles within a work area, characterized in that, Includes the following steps: Step 1: Obtain the vehicle's location and the pre-planned set of vehicle path points; based on the vehicle's location and the pre-planned set of vehicle path points, establish an index attribute set; Step 2: Based on the vehicle path point set, form lanes and divide the lanes into conflict zones and non-conflict zones; Step 3: Based on the calculated conflict zone and non-conflict zone, calculate the vehicle capacity at each point in the vehicle lane, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set. Step 4: Calculate the conflict zone and the capacity change of points within the zone when vehicles travel in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set. Step 5: Based on the index attribute set, search for points within a preset length that meet the capacity attribute conditions along the current position of each vehicle to obtain a path point set of the preset length. Output the path point set of the preset length to the corresponding vehicle and control the corresponding vehicle to travel according to the path point set of the preset length. Based on the vehicle waypoint set, lanes are formed and divided into conflict zones and non-conflict zones, including: Step 2.1: Expand the current vehicle's path point set outward to obtain the current lane; for the current lane, perform intersection calculations with other existing lanes to obtain independent conflict zones; Step 2.2: Detect whether the independent conflict zones should be merged. Merge independent conflict zones that should be merged into one conflict zone, and search sequentially until the end of the road; Step 2.3: Create an index for the conflict zone and save its spatial graph and related information such as the lanes corresponding to the conflict zone, and the node indexes of the entry and exit nodes on the corresponding lanes; Step 2.2: Determine whether the independent conflict zones should be merged, including: If the distance between any two independent conflict zones is less than the length threshold after the vehicle expands, the two independent conflict zones are merged into one conflict zone, and this process is repeated sequentially.

2. The method for managing the right-of-way of unmanned vehicles within a working area according to claim 1, characterized in that, Obtain the vehicle's location and a pre-planned set of vehicle waypoints. Based on the vehicle's location and the pre-planned set of vehicle waypoints, establish an index attribute set, including: The path planning algorithm generates path nodes with equal distances and fixed intervals; the path planning algorithm uses a hybrid A* algorithm. Sort the set of vehicle path points; Starting from the first point where the vehicle is about to travel, number it 0, and then increment it sequentially to create an index, along with an index attribute set.

3. The method for managing the right-of-way of unmanned vehicles within a working area according to claim 1, characterized in that, Step 3: Based on the calculated conflict and non-conflict zones, calculate the vehicle capacity at each point in the vehicle lane, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set, including: Step 3.1: After the conflict zone is processed, the lane becomes several polygonal regions composed of conflict zones and non-conflict zones. At the same time, the start node and end node of the road corresponding to different regions are recorded. Step 3.2: The capacity of all conflict zones is 1. In non-conflict zones, the capacity of the road is obtained by dividing its length or area size by the size of the inflated unmanned vehicle. Step 3.3: Set the capacity attribute for the points corresponding to the area. The attribute value starts with 1 at the end of the road and is calculated sequentially towards the starting point of the road. The capacity within the corresponding range of each area is accumulated sequentially, and this capacity is set to the road node. Step 3.4: Calculate the current number of vehicles at each point as the total number of all vehicles at this point and up to the first conflict zone or the end of the road occupied by an oncoming vehicle. The size of the unmanned vehicle after expansion is the same as the size of the vehicle when it is stationary. The size of the unmanned vehicle after expansion = expansion in the direction of travel + expansion at speed in the direction of travel + expansion of the vehicle body.

4. The method for managing the right-of-way of unmanned vehicles within a working area according to claim 1, characterized in that, Step 4: Calculate the conflict zone and the capacity change of points within the zone when vehicles travel in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set, including: When vehicles pass through the conflict zone ahead in the same direction, the capacity of the conflict zone remains unchanged, and the capacity of points on the route before this conflict zone does not change; the conflict zone ahead is a conflict zone in the direction where the index value is greater than the current point; the route before the conflict zone is the route where the index value is less than the index value of the current point of this conflict zone. When a vehicle passes through the conflict zone ahead in the opposite direction, the capacity of all points in the current lane within the area becomes 0; at the same time, the capacity of the points before this conflict zone in this lane is recalculated, starting from this conflict zone. Once oncoming vehicles leave the conflict zone, all changed point capacities in the conflict zone revert to their previous values; simultaneously, the capacities of points on the road whose capacities were changed due to the conflict zone also revert to their previous values.

5. The method for managing the right-of-way of unmanned vehicles within a working area according to claim 1, characterized in that, Step 5: Based on the index attribute set, search forward along the current position of each vehicle for points whose capacity attributes meet the conditions within a preset length to obtain a path point set of the preset length. Output the path point set of the preset length to the vehicles and control the vehicles to travel according to the path point set of the preset length, including: Based on the index attribute set, search for points with a capacity attribute greater than the current number of vehicles along the current position of each vehicle within a preset length, and add them to the path point set of the preset length. A path point set of preset length is output to the vehicle, and the vehicle is controlled to travel according to the path point set of preset length. If the vehicle travels to the end of a path point set of preset length and no new path point set of preset length is issued, then the vehicle is controlled to stop at the end of the path point set of preset length.

6. The method for managing the right-of-way of unmanned vehicles within a working area according to claim 1, characterized in that, The method further includes: When multiple vehicles compete for a space at the same time, the passage priority of the vehicles is determined by: obtaining the priority evaluation dimension data of the vehicles, comparing the priority evaluation dimensions in turn, and determining the passage priority of the vehicles when the data of a certain dimension is inconsistent. The capacity attribute of the corresponding point in the index attribute set is updated based on the passage priority of the vehicle: the capacity attribute of the corresponding point in the index attribute set of the vehicle with the highest passage priority is not affected, and the capacity of all points in the current lane within the area of ​​the vehicle with lower priority becomes 0; at the same time, the capacity of the points before this conflict zone in this lane is recalculated starting from this conflict zone. Once a vehicle with higher priority leaves the conflict zone, the capacity of all points in the conflict zone that were altered is restored to their previous values; at the same time, the capacity of points on this road that were previously altered due to the conflict zone is also restored to their previous values.

7. The method for managing the right-of-way of unmanned vehicles within a working area according to claim 1, characterized in that, The method further includes: The exclusive area of ​​a vehicle is dynamically calculated based on its direction of travel and speed. An exclusive lane can only be occupied by this vehicle, and no other vehicle has the right to access the waypoints contained in this lane; the exclusive lane extends along the route; if the exclusive lane overlaps with the exclusive lane of another vehicle, that vehicle will not continue to apply for subsequent right-of-way in that lane. The expansion of the exclusive area is directly proportional to the square of the speed. Exclusive area = expansion in front of the direction of travel + expansion of the speed in the direction of travel + expansion of the vehicle body + expansion behind the speed of travel.

8. A multi-vehicle right-of-way management system for unmanned vehicles within a working area for performing the method as described in claim 1, characterized in that, include: The path index organization module is used to obtain the vehicle's location and the pre-planned set of vehicle path points; Based on the vehicle's location and the pre-planned set of vehicle route points, an index attribute set is established; The conflict zone calculation and indexing module is used to form lanes and divide lanes into conflict zones and non-conflict zones based on the vehicle waypoint set of the vehicles. The area capacity calculation module is used to calculate the vehicle capacity at each point of the vehicle lane based on the calculated conflict zone and non-conflict zone, and set the vehicle capacity at each point as the capacity attribute of the corresponding point in the index attribute set. The vehicle collision capacity calculation module is used to calculate the capacity change of the collision zone and points within the zone when vehicles are traveling in the same or opposite directions, obtain the vehicle capacity, and update the capacity attribute of the corresponding point in the index attribute set. The output module is used to search for points with capacity attributes that meet the conditions within a preset length along the current position of each vehicle based on the index attribute set, to obtain a path point set of the preset length, and output the path point set of the preset length to the vehicle to control the vehicle to travel according to the path point set of the preset length.

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