A control system, method and storage medium for terminal vehicle entry

Abstract

The present invention discloses a control system, method and storage medium for port entry of terminal vehicles. The system includes: an industrial network intelligent image acquisition module for acquiring terminal vehicle information images; an intelligent safety data processing module for identifying vehicle status according to the terminal vehicle information images, and obtaining vehicle status data and signal output instructions; an intelligent relay module for converting signal output instructions into indicator light electrical signals; a red and green signal light module for changing the display status of red and green signal lights according to the indicator light electrical signals; a path planning module for calculating the vehicle driving path; a vehicle speed planning module for calculating the target vehicle speed and driving distance; and a message service module for sending the vehicle driving path, driving distance and target vehicle speed to the port entry vehicle. The present invention realizes the control of vehicle entry, improves the vehicle traffic efficiency and the production efficiency of the port terminal, and reduces traffic safety hazards. The present invention can be applied to the technical field of port vehicle traffic control.

Description

Technical Field

[0001] The present invention relates to the technical field of port vehicle passage control, and in particular to a port entry passage control system, method and storage medium for terminal vehicles. Background Art

[0002] In the port container transportation industry, the port entrance gate is an important part of the port terminal. Generally, the port entrance gate is composed of a straight multi-gate channel. However, some ports with relatively special geographical environments are composed of a straight two-lane road that turns right at a right angle of 90 degrees to connect to the port with a four-lane road, and there is also a crosswalk and a blind turning area. In the traditional manual intervention traffic diversion method, the diversion is not timely, the container vehicles appear to be disorderly and speeding, and the vehicle information is not accurately obtained. The vehicles are congested in the blind turning area before entering the port waiting area, causing frequent traffic congestion and chaos, and even causing container vehicle collision accidents. The production and operation efficiency of the port terminal is low, the vehicle traffic efficiency is low, and the traffic safety risks are high.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The embodiments of the present invention provide a control system, method and storage medium for port vehicle entry, which effectively improves vehicle traffic efficiency and port terminal production efficiency and reduces traffic safety hazards.

[0005] On the one hand, an embodiment of the present invention provides a terminal vehicle entry control system, the system comprising:

[0006] An industrial network intelligent image acquisition module, which is used to acquire terminal vehicle information images;

[0007] An intelligent safety data processing module, the intelligent safety data processing module is used to receive the terminal vehicle information image sent by the industrial network intelligent image acquisition module, and perform vehicle status recognition according to the terminal vehicle information image to obtain vehicle status data and signal output instructions;

[0008] An intelligent relay module, the intelligent relay module is used to receive the signal output instruction sent by the intelligent safety data processing module and convert it into an indicator light electrical signal;

[0009] A traffic light module, the traffic light module is used to change the display state of the traffic light according to the electrical signal of the indicator light, the display state includes a stop red light and a pass green light;

[0010] A path planning module, the path planning module is used to calculate the vehicle driving path according to the vehicle status data, the display status of the traffic light and the constraint template;

[0011] A vehicle speed planning module, the vehicle speed planning module is used to calculate a target vehicle speed and a driving distance according to the vehicle status data, and the target vehicle speed is used to limit the driving speed of vehicles entering the port;

[0012] A message service module, wherein the message service module is used to send the vehicle driving path, the driving distance and the target vehicle speed to the port-entering vehicle through wireless communication to achieve vehicle entry passage control.

[0013] In some embodiments, the industrial network intelligent image acquisition module includes a radar scanning submodule, which is used to identify the license plate number, vehicle model and vehicle color of the vehicle entering the port. The license plate number is used to track the driving trajectory of the vehicle entering the port, the vehicle model is used to classify the vehicle entering the port, and the vehicle color is used to distinguish the vehicles entering the port of the same model.

[0014] In some embodiments, the system further includes a lane planning module, wherein the lane planning module is configured to perform the following steps:

[0015] Calculate the traffic volume according to the license plate number, vehicle model and vehicle color of the inbound vehicles;

[0016] Calculating a permitted vehicle speed range according to the vehicle flow and the vehicle type;

[0017] A target lane is calculated according to the permitted vehicle speed range and the vehicle type.

[0018] In some embodiments, the calculating the vehicle driving path according to the vehicle state data, the display state of the traffic light and the constraint template includes:

[0019] Set up dense magnetic nail areas in the dock area;

[0020] Constructing a dense magnetic nail array in the dense magnetic nail area, wherein the dense magnetic nail array includes multiple magnetic nails, and the magnetic nails are used to represent reference points for path planning;

[0021] Calculating traffic flow data based on the vehicle status data, the traffic flow data including the number of vehicles entering the port and the real-time vehicle speed in each lane;

[0022] Acquiring map information through a map database, wherein the map information includes road locations, road attributes, building locations, building attributes, obstacle locations, and obstacle attributes;

[0023] Calculating a feasible path through a preset path search algorithm according to the map information, the dense magnetic nail array and the constraint template;

[0024] Obtaining parking space information of the loading and unloading area through the gate system, wherein the parking space information includes the number of free parking spaces and the locations of the parking spaces;

[0025] According to the traffic flow data, the display status of the traffic light and the parking space information, an optimal path is selected from multiple feasible paths through a preset path optimization algorithm to obtain the vehicle driving path.

[0026] In some embodiments, the signal output instruction includes a first green light display instruction, the green light for passing includes a first green light, and the vehicle status recognition is performed according to the terminal vehicle information image to obtain the signal output instruction, including:

[0027] Perform vehicle status recognition according to the terminal vehicle information image to obtain a first number of vehicles in a first port waiting area;

[0028] If the first number of vehicles is equal to 0, the first green light display instruction is obtained, and the first green light display instruction is used to control the traffic signal light to display the first green light, and the first green light is used to prompt incoming vehicles to drive to the first incoming waiting area.

[0029] In some embodiments, the signal output instruction further includes a second green light display instruction, the green light for passing further includes a second green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, and further includes:

[0030] Performing vehicle status recognition according to the terminal vehicle information image to obtain a second number of vehicles in a second port arrival waiting area, where the second port arrival waiting area is adjacent to the first port arrival waiting area;

[0031] If the first number of vehicles is greater than 0 and the second number of vehicles is equal to 0, the second green light display instruction is obtained, and the second green light display instruction is used to control the traffic light to display the second green light, and the second green light is used to prompt incoming vehicles to drive to the second incoming waiting area.

[0032] In some embodiments, the signal output instruction further includes a third green light display instruction, the green light for passing further includes a third green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, and further includes:

[0033] Performing vehicle status recognition according to the terminal vehicle information image to obtain a third number of vehicles in a third port arrival waiting area and a fourth number of vehicles in a fourth port arrival waiting area, wherein the third port arrival waiting area is adjacent to the second port arrival waiting area, and the fourth port arrival waiting area is adjacent to the third port arrival waiting area;

[0034] If the fourth number of vehicles is greater than 0 and the third number of vehicles is equal to 0, the third green light display instruction is obtained, and the third green light display instruction is used to control the traffic signal light to display the third green light, and the third green light is used to prompt incoming vehicles to drive to the third incoming waiting area.

[0035] In some embodiments, the signal output instruction further includes a fourth green light display instruction, the green light for passing further includes a fourth green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, and further includes:

[0036] Performing vehicle status recognition according to the terminal vehicle information image to obtain the fourth number of vehicles in the fourth port arrival waiting area;

[0037] If the fourth number of vehicles is equal to 0, the fourth green light display instruction is obtained, and the fourth green light display instruction is used to control the traffic signal light to display the fourth green light, and the fourth green light is used to prompt the inbound vehicles to drive to the fourth inbound waiting area.

[0038] On the other hand, an embodiment of the present invention provides a method for controlling the passage of vehicles into a port at a terminal, comprising:

[0039] Get the vehicle information image at the terminal;

[0040] Performing vehicle status recognition on the terminal vehicle information image to obtain vehicle status data and signal output instructions;

[0041] Converting the signal output instruction into an indicator light electrical signal;

[0042] According to the indicator light electrical signal, changing the display state of the traffic light, wherein the display state includes a stop red light and a pass green light;

[0043] Calculating a vehicle driving path according to the vehicle state data, the display state of the traffic light and the constraint template;

[0044] Calculating a target vehicle speed and a driving distance according to the vehicle status data, wherein the target vehicle speed is used to limit the driving speed of vehicles entering the port;

[0045] The vehicle driving path, the driving distance and the target vehicle speed are sent to the port-entering vehicle through wireless communication to achieve vehicle port-entering passage control.

[0046] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0047] The beneficial effects of the present invention are as follows:

[0048] A terminal vehicle port entry control system provided by the present invention comprises an industrial network intelligent image acquisition module, an intelligent safety data processing module, an intelligent relay module, a red and green signal light module, a path planning module, a vehicle speed planning module and a message service module. First, the terminal vehicle information image is acquired through the industrial network intelligent image acquisition module, and the vehicle status is identified through the intelligent safety data processing module. Then, the signal output instruction is converted into an indicator light electrical signal through the intelligent relay module, and the display status of the red and green signal light is changed through the red and green signal light module. Then, the vehicle driving path is calculated through the path planning module, and the target vehicle speed and driving distance are calculated through the vehicle speed planning module. Finally, the vehicle driving path, driving distance and target vehicle speed are sent to the port entry vehicle through the message service module, thereby realizing vehicle port entry control, improving vehicle traffic efficiency and port terminal production operation efficiency, and reducing traffic safety hazards.

[0049] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 This is a schematic diagram of a control system for port entry of terminal vehicles according to an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of an intelligent security data processing module according to an embodiment of the present invention;

[0053] Figure 3 The present invention is a flowchart of a method for controlling the passage of terminal vehicles into a port. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0055] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0056] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0058] In the relevant technology, in the port container transportation industry, the port entrance gate is an important part of the port terminal. The smoothness of container vehicles entering the port directly affects the operating efficiency of the port terminal. Generally, the port terminal gates are composed of multiple gate channels. However, some geographical environments are relatively special. Some are four channels connected to the port by a two-lane straight road that turns right at a right angle of 90°. In the absence of traffic control lights and manual intervention in traffic diversion, container vehicles appear to be speeding in an disorderly manner. Before the vehicle turns into the port waiting area, there is a crosswalk and a blind spot. Without traffic lights, the vehicle will be crowded in the blind spot. Therefore, in the relatively special connecting and changing lanes, frequent traffic congestion and chaos will occur, the vehicle traffic efficiency is low, and even container vehicle collision traffic accidents will occur, which will directly affect the production and operation efficiency of the port terminal and pose a traffic safety hazard.

[0059] This application solves the problem of frequent traffic congestion and chaos caused by the special lane change of the dock, avoids traffic accidents caused by container vehicles, improves the production and operation efficiency of the port terminal, and reduces traffic safety hazards. The traditional way of entering the port has no traffic lights and manual intervention in traffic diversion, which leads to chaotic and disorderly vehicles, traffic congestion, and frequent vehicle collision accidents. By implementing the "one light, one lane, one car" mode, the queueing order of vehicles can be effectively controlled, traffic accidents can be avoided, and traffic safety can be improved. At the same time, the traditional way of entering the port is frequent traffic congestion, which seriously affects the efficiency of vehicles entering the port, thereby directly affecting the production and operation efficiency of the port terminal. By using signal lights to display the designated passable lanes and adopting the priority side lane traffic mode, the risk of vehicles crossing and colliding in the middle two lanes is avoided. At the same time, the system has an intelligent illegal driving capture function, which can serve as a warning and further improve the vehicle entry rate and operation efficiency.

[0060] The following is a detailed explanation of the embodiments of the present application in conjunction with the accompanying drawings:

[0061] like Figure 1 As shown, an embodiment of the present invention provides a control system for vehicle entry into the port, including an industrial network intelligent image acquisition module 101, an intelligent safety data processing module 102, an intelligent relay module 103, a traffic light module 104, a path planning module 105, a vehicle speed planning module 106 and a message service module 107. In some embodiments, the industrial network intelligent image acquisition module 101 can obtain terminal vehicle information images. Among them, the industrial network intelligent image acquisition module can use an industrial network intelligent camera to obtain terminal vehicle information images. The industrial network intelligent camera can be installed on the gantries on both sides of the road respectively, and can monitor the driving speed of vehicles entering the port, and monitor illegal parking, parking in the port waiting area, and the situation when the vehicle enters the waiting area lane, and captures vehicles that drive illegally, and then sends the acquired terminal vehicle information image to the intelligent safety data processing module. The intelligent safety data processing module 102 is as shown Figure 2As shown, the terminal vehicle information image sent by the industrial network intelligent image acquisition module can be received, and then the vehicle status is identified according to the terminal vehicle information image to obtain vehicle status data and signal output instructions. Among them, the intelligent safety data processing module may include AISDK (artificial intelligence software development kit), camera SDK, network management, device management, authority management, rule management, statistical analysis, intelligent identification, lane identification, violation identification, speed identification and traffic status identification and other functions. Exemplarily, the terminal vehicle information image can be analyzed, filtered and processed by the AI ​​SDK and camera SDK modules, and then the optical signal is converted into an electrical signal by the network management module to obtain a signal output instruction, and according to the multi-dimensional data custom rules, the signal output instruction is output to the intelligent relay module through management programming. More, the intelligent safety data processing module can output lane passing instructions, parking instructions, priority lane passing instructions, cross-line parking instructions and speeding violation capture instructions. The intelligent relay module 103 can receive the signal output instruction sent by the intelligent safety data processing module, and then convert the signal output instruction into an indicator light electrical signal. The traffic light module 104 can change the display state of the traffic light according to the indicator light electrical signal, and the display state can include a stop red light and a pass green light. The traffic light can be installed on the sea and land sides of the two-lane highway 109, and can display a stop red light and a pass green light. The pass green light includes the first green light and the second green light on the sea side lane and the third green light and the fourth green light on the land side lane. Figure 1 According to the forward direction of the arrow of the two-lane highway, the left side is the land side, and the right side is the sea side. The path planning module 105 can calculate the vehicle driving path according to the vehicle status data, the display status of the traffic lights and the constraint template. Among them, the path planning module will plan a suitable port-entry path for the incoming vehicle according to the speed, lane and terminal traffic status of the incoming vehicle. The terminal traffic status may include the speed, position, spacing, etc. of the incoming vehicle. When planning the path, factors such as traffic flow and parking space conditions can be considered to ensure the safety of vehicle traffic. After the path and terminal traffic status are determined, the vehicle driving path is sent to the message service module. The speed planning module 106 can calculate the target speed and driving distance according to the vehicle status data. The target speed is used to limit the driving speed of the incoming vehicle, and the speed of the incoming vehicle should be less than the target speed. The message service module 107 can send the vehicle driving path, driving distance and target speed to the port-entering vehicle 108 through wireless communication, and can also visualize the vehicle driving path on the map through the map rendering module, so as to facilitate the driver to view and select, so as to guide the vehicle to enter the port, and release the vehicles with planned routes in accordance with the signal indication of the red and green lights, so as to realize the vehicle entry control, so that under the condition that the two-lane road 109 turns to the four-lane waiting area 110, the port-entering vehicles can pass quickly, effectively improving the traffic efficiency of the container terminal vehicles.

[0062] In some embodiments, the speed planning module can evaluate the traffic safety of the vehicle based on the vehicle status data of industrial network intelligent cameras, sensors and other equipment, calculate the target speed and driving distance, and help adjust the path planning strategy. Among them, the vehicle status data may include information such as vehicle speed, vehicle distance, lane markings, and traffic light status. Specifically, according to the vehicle status data, the speed planning module can control the vehicle's driving speed and distance. In the case of large traffic flow or poor road conditions, the recommended driving speed can be displayed on the central control screen of the car to prompt the driver to reduce the vehicle's driving speed and maintain a safe distance, thereby reducing the risk of traffic accidents. Exemplarily, when the vehicle status data shows that the vehicle's driving speed is too fast or too slow, the speed planning module can promptly display the driving speed that needs to be adjusted. When the traffic flow on the path is small, the speed can be appropriately increased to improve the traffic efficiency; when the traffic flow on the path is large, the speed can be appropriately reduced to improve driving safety. The re-planned driving speed can be displayed on the central control screen of the car for prompting to ensure safe driving of the vehicle. Furthermore, the speed planning module can also adjust the vehicle's speed and help adjust the driving path according to monitoring data such as lane markings and the display status of traffic lights. When it is recognized that the lane markings are blurred or the traffic lights are displayed as red, the deceleration prompt information can be sent to the car's central control terminal device, so that the driver can control the vehicle to slow down or stop, avoiding violations of traffic rules and traffic accidents. At the same time, the monitoring data can be analyzed and optimized through the background terminal computer equipment to further improve the traffic safety and efficiency of the vehicle. Specifically, data analysis of vehicle speed and spacing is performed, including data cleaning, missing value processing, and outlier processing, to ensure the accuracy and reliability of the data. According to the analyzed data, the average speed, maximum speed, and minimum speed of the vehicle at different times and different sections can be obtained, and the changes in the vehicle's driving habits and traffic flow can be obtained. Then, by analyzing the average spacing, maximum spacing, and minimum spacing between vehicles, the road congestion, the safe distance between vehicles, the changes in the spacing between vehicles at different speeds, and the impact of spacing changes on traffic safety can be analyzed. Based on the analysis results, a corresponding mathematical model or algorithm is established to predict the vehicle speed and driving distance and evaluate the traffic safety risks. The best driving strategy can be obtained and the control strategy of traffic lights can be optimized, thereby improving traffic flow and safety.

[0063] In some embodiments, the industrial network intelligent image acquisition module includes a radar scanning submodule, which is used to identify the license plate number, vehicle model and vehicle color of the vehicle entering the port. The license plate number is used to track the driving trajectory of the vehicle entering the port, the vehicle model is used to classify the vehicle entering the port, and the vehicle color is used to distinguish the vehicles of the same model entering the port. In some embodiments, the radar scanning submodule has a radar scanning function, and a laser vision integrated vehicle model identifier can be used to identify the license plate number, vehicle model and vehicle color of the vehicle entering the port to obtain vehicle information. Among them, through license plate number recognition, accurate recognition and tracking of the vehicle's driving trajectory can be achieved, helping to achieve automatic vehicle detection, traffic flow statistics, vehicle tracking and other functions. Through vehicle model recognition, classification of different types of vehicles, such as cars, trucks, motorcycles, etc., can be achieved, helping to achieve vehicle classification, traffic planning, safe driving prompts and other functions. Through vehicle color recognition, vehicles of different colors can be distinguished, further helping to achieve vehicle classification, traffic planning, safe driving prompts and other functions.

[0064] In some embodiments, a terminal vehicle entry control system provided by an embodiment of the present invention further includes a lane planning module, and the lane planning module is used to perform the following steps:

[0065] Calculate the traffic volume based on the license plate number, model and color of vehicles entering the port;

[0066] Calculate the permitted speed range based on traffic volume and vehicle type;

[0067] Calculate the target lane based on the permitted speed range and vehicle type.

[0068] In some embodiments, the execution of the lane planning module may be to first adjust and manage the lane traffic rules and calculate the traffic volume by combining the features of the vehicle license plate number, vehicle model and vehicle color of the incoming vehicle, and then adjust the speed limit according to factors such as the vehicle model and vehicle volume, calculate the permitted speed range, and then adjust the lane and the number of lanes according to the permitted speed range and vehicle model, calculate the target lane, and finally restrict the driving lane of the incoming vehicle according to the permitted speed range and target lane. In some embodiments, by real-time monitoring of the license plate number, vehicle model and vehicle color of the incoming vehicle, the lane planning module can provide safe driving tips, prompting the driver to avoid specific types of vehicles or pay attention to complying with traffic rules, and the calculated traffic volume, permitted speed range and target lane information can be sent to the intelligent safety data processing module for storage and processing.

[0069] In some embodiments, in the path planning module, the vehicle driving path is calculated according to the vehicle state data, the display state of the traffic light and the constraint template, including:

[0070] Set up dense magnetic nail areas in the dock area;

[0071] Constructing a dense magnetic pin array in a dense magnetic pin area, the dense magnetic pin array includes multiple magnetic pins, and the magnetic pins are used to represent reference points for path planning;

[0072] Calculate traffic flow data based on vehicle status data, including the number of incoming vehicles and real-time vehicle speed in each lane;

[0073] Acquiring map information through a map database, the map information including road locations, road attributes, building locations, building attributes, obstacle locations, and obstacle attributes;

[0074] According to the map information, dense magnetic pin array and constraint template, a feasible path is calculated through a preset path search algorithm;

[0075] Obtain parking space information of the loading and unloading area through the gate system, the parking space information includes the number of vacant parking spaces and the location of the parking spaces;

[0076] According to traffic flow data, the display status of traffic lights and parking space information, an optimal path is selected from multiple feasible paths through a preset path optimization algorithm to obtain the vehicle driving path.

[0077] In some embodiments, a dense magnetic nail area can be set in a specific area of ​​the container terminal, and a dense magnetic nail array can be constructed in this area. The magnetic nails can be used as reference points for path planning and can be arranged according to specific rules to indicate the path that the vehicle can travel. Then, traffic flow data is calculated based on the vehicle status data, wherein the traffic flow data may include information such as the number of vehicles in each section and the real-time speed. Then, map information is obtained through a map database, wherein the map information may include the location and attributes of roads, buildings, obstacles, etc. Then, a feasible path is calculated through a preset path search algorithm based on the map information, the dense magnetic nail array and the constraint template. Exemplarily, a feasible path from the starting point to the end point can be searched in the map database through the Dijkstra algorithm based on the map information, the dense magnetic nail array and the constraint template. Among them, the constraint template can represent the driving trajectory of the automatic guided vehicle, including straight, oblique, right-angle turns and other actions. When planning the path, the template can be used as an additional constraint to ensure that the planned path can fully overlap with the driving trajectory of the automatic guided vehicle. The parking space information of the loading and unloading area is then obtained through the gate system 111, wherein the parking space information may include the number of free parking spaces and the location of the parking spaces. The availability of each parking space can be evaluated based on the parking space information, and the parking space closer to the loading and unloading area can be selected as the planning path based on the remaining parking space information counted by the gate system 111, so as to reduce the driving time and distance of the vehicle in the terminal, thereby improving the efficiency of vehicle traffic. It is understandable that the gate system can count the number of vehicles entering and exiting the gate, so as to obtain the parking space information. Moreover, the terminal site can be monitored in real time, and the path planning strategy can be adjusted according to the actual situation to achieve rapid passage of vehicles. When one of the roads is congested, the path can be replanned, optimized according to the current path information data, and other unobstructed roads can be selected for driving. In addition, the maintenance and maintenance of vehicles and equipment can be strengthened to ensure the normal operation of vehicles and equipment, and avoid affecting the normal operation of the terminal due to failures and other reasons. Finally, according to the traffic flow data, the display status of the traffic lights and the parking space information, an optimal path is selected from multiple feasible paths through a preset path optimization algorithm to obtain the vehicle driving path. For example, the current traffic conditions and road congestion can be analyzed, and a path that passes through a lane with a green light and has an empty parking space after entering the port can be selected to obtain the vehicle driving path. It is understandable that the path planning module can evaluate the capacity of each road section and select a road section with a higher capacity as the vehicle driving path. Furthermore, when one of the road sections is congested, the path planning module can dynamically adjust the path to bypass the congested road section to reduce delays.

[0078] In some embodiments, the signal output instruction includes a first green light display instruction, the green light for passing includes a first green light, and the vehicle state is identified according to the terminal vehicle information image to obtain the signal output instruction, including:

[0079] Perform vehicle status recognition based on the terminal vehicle information image to obtain the first vehicle quantity in the first port waiting area;

[0080] If the first number of vehicles is equal to 0, a first green light display instruction is obtained, and the first green light display instruction is used to control the traffic signal light to display a first green light, and the first green light is used to prompt the inbound vehicles to drive to the first inbound waiting area.

[0081] In some embodiments, the signal output instruction further includes a second green light display instruction, the green light for passing further includes a second green light, and the vehicle state is identified according to the terminal vehicle information image to obtain the signal output instruction, which further includes:

[0082] Perform vehicle status recognition according to the terminal vehicle information image to obtain the second vehicle quantity in the second port arrival waiting area, where the second port arrival waiting area is adjacent to the first port arrival waiting area;

[0083] If the first number of vehicles is greater than 0 and the second number of vehicles is equal to 0, a second green light display instruction is obtained, and the second green light display instruction is used to control the traffic signal light to display a second green light, and the second green light is used to prompt the incoming vehicles to drive to the second incoming waiting area.

[0084] In some embodiments, the signal output instruction further includes a third green light display instruction, the green light for passing further includes a third green light, and the vehicle state is identified according to the terminal vehicle information image to obtain the signal output instruction, which further includes:

[0085] The vehicle status is identified according to the terminal vehicle information image, and the third vehicle number in the third port arrival waiting area and the fourth vehicle number in the fourth port arrival waiting area are obtained. The third port arrival waiting area is adjacent to the second port arrival waiting area, and the fourth port arrival waiting area is adjacent to the third port arrival waiting area.

[0086] If the fourth number of vehicles is greater than 0 and the third number of vehicles is equal to 0, a third green light display instruction is obtained, and the third green light display instruction is used to control the traffic signal light to display a third green light, and the third green light is used to prompt the incoming vehicles to drive to the third incoming waiting area.

[0087] In some embodiments, the signal output instruction further includes a fourth green light display instruction, the green light for passing further includes a fourth green light, and the vehicle state is identified according to the terminal vehicle information image to obtain the signal output instruction, which further includes:

[0088] Perform vehicle status recognition based on the terminal vehicle information image to obtain the fourth vehicle quantity in the fourth port waiting area;

[0089] If the fourth vehicle quantity is equal to 0, a fourth green light display instruction is obtained, and the fourth green light display instruction is used to control the traffic signal light to display a fourth green light, and the fourth green light is used to prompt the inbound vehicles to drive to the fourth inbound waiting area.

[0090] In some embodiments, the signal output instruction may include a first green light display instruction, a second green light display instruction, a third green light display instruction, and a fourth green light display instruction, and the green light for passage may include a first green light, a second green light, a third green light, and a fourth green light. Vehicle status recognition is performed according to the terminal vehicle information image to obtain the signal output instruction, which may be to first perform vehicle status recognition according to the terminal vehicle information image to obtain the first number of vehicles in the first port arrival waiting area, the second number of vehicles in the second port arrival waiting area, the third number of vehicles in the third port arrival waiting area, and the fourth number of vehicles in the fourth port arrival waiting area. Among them, the second port arrival waiting area is adjacent to the first port arrival waiting area, the third port arrival waiting area is adjacent to the second port arrival waiting area, and the fourth port arrival waiting area is adjacent to the third port arrival waiting area. Then the number of vehicles in the waiting area is judged to obtain the corresponding output instruction. If the first number of vehicles is equal to 0, the first green light display instruction is obtained regardless of whether there are vehicles in the second waiting area; if the first number of vehicles is greater than 0 and the second number of vehicles is equal to 0, the second green light display instruction is obtained; if the fourth number of vehicles is greater than 0 and the third number of vehicles is equal to 0, the third green light display instruction is obtained; if the fourth number of vehicles is equal to 0, the fourth green light display instruction is obtained regardless of whether there are vehicles in the third waiting area. Among them, the first green light display instruction can be used to control the traffic signal light to display the first green light, and the first green light is used to prompt the incoming vehicle to drive to the first incoming waiting area; the second green light display instruction can be used to control the traffic signal light to display the second green light, and the second green light is used to prompt the incoming vehicle to drive to the second incoming waiting area; the third green light display instruction can be used to control the traffic signal light to display the third green light, and the third green light is used to prompt the incoming vehicle to drive to the third incoming waiting area; the fourth green light display instruction can be used to control the traffic signal light to display the fourth green light, and the fourth green light is used to prompt the incoming vehicle to drive to the fourth incoming waiting area. Furthermore, the signal output instruction may also include a first red light display instruction and a second red light display instruction, and the stop red light may include a first red light and a second red light. If the first number of vehicles and the second number of vehicles are both greater than 0, the first red light display instruction is obtained; if the third number of vehicles and the fourth number of vehicles are both greater than 0, the second red light display instruction is obtained. Among them, the first red light display instruction can be used to control the traffic light to display the first red light, and the first red light can be used to prompt the port-entering vehicle to stop before the crosswalk 112 of the sea-tested highway 109; the second red light display instruction can be used to control the traffic light to display the second red light, and the second red light can be used to prompt the port-entering vehicle to stop before the crosswalk 112 of the land-tested highway. In some embodiments, if the port-entering vehicle does not comply with the instructions of the traffic light, illegally passes through the crosswalk to enter the blind spot of the turning, enters the port waiting area, or speeds into the port waiting area, it can be captured by the intelligent violation capture system and stored in the database system for viewing the records.

[0091] The beneficial effects of implementing the embodiments of the present invention include: a terminal vehicle entry control system provided by the embodiments of the present invention includes an industrial network intelligent image acquisition module, an intelligent safety data processing module, an intelligent relay module, a red and green signal light module, a path planning module, a vehicle speed planning module and a message service module. First, the terminal vehicle information image is acquired through the industrial network intelligent image acquisition module, and the vehicle status is identified through the intelligent safety data processing module. Then, the signal output instruction is converted into an indicator light electrical signal through the intelligent relay module, and the display status of the red and green signal light is changed through the red and green signal light module. Then, the vehicle driving path is calculated through the path planning module, and the target vehicle speed and driving distance are calculated through the vehicle speed planning module. Finally, the vehicle driving path and the target vehicle speed are sent to the vehicle entering the port through the message service module, thereby realizing vehicle entry control, improving vehicle traffic efficiency and port terminal production operation efficiency, and reducing traffic safety hazards.

[0092] In some embodiments, the current traffic status of the terminal can be analyzed through the path planning module, a suitable port entry path can be planned for the vehicle, and the traffic conditions of the terminal can be monitored in real time, including the speed, position, spacing, etc. of the vehicle, to ensure the safety of the vehicle's passage. At the same time, once the planned path is determined, the vehicle's driving path can be sent to the port entry vehicle through wireless communication using the message service module, thereby guiding the vehicle to enter the port. In addition, this embodiment implements the "one light, one road, one car" mode, which can effectively control the queue order of vehicles, avoid traffic accidents, improve traffic safety, and effectively solve the problem of traditional port entry without signal lights and manual intervention in traffic diversion, resulting in chaotic and disorderly vehicles, traffic congestion, and frequent vehicle collision accidents. At the same time, red and green signal lights are used to display the designated passable lanes, and the priority side lane traffic mode is adopted to avoid the risk of vehicles crossing and colliding in the middle two lanes. This embodiment has the function of intelligent illegal driving capture of speeding and illegal parking, which can play a warning and educational role, realize the orderly entry of vehicles into the port, avoid traffic chaos, eliminate the risk of traffic accidents, and further improve the vehicle entry rate and terminal production efficiency.

[0093] Figure 3 is an optional flow chart of a method for controlling the passage of terminal vehicles into a port provided in an embodiment of the present application. Figure 3 The method may include but is not limited to steps S201 to S207.

[0094] Step S201, obtaining terminal vehicle information image;

[0095] Step S202, performing vehicle status recognition on the terminal vehicle information image to obtain vehicle status data and signal output instructions;

[0096] Step S203, converting the signal output instruction into an indicator light electrical signal;

[0097] Step S204, changing the display state of the traffic light according to the indicator light electrical signal, the display state including the stop red light and the pass green light;

[0098] Step S205, calculating the vehicle driving path according to the vehicle state data, the display state of the traffic light and the constraint template;

[0099] Step S206: Calculate the target vehicle speed and driving distance according to the vehicle status data. The target vehicle speed is used to limit the driving speed of vehicles entering the port.

[0100] Step S207: Send the vehicle driving path, driving distance and target speed to the vehicle entering the port through wireless communication to achieve vehicle entry passage control.

[0101] In some embodiments, the terminal vehicle information image can be first obtained through an image acquisition device, or through other means, and the terminal vehicle information image can be used to identify the vehicle status, obtain vehicle status data and signal output instructions, convert the signal output instructions into indicator light electrical signals, and then change the display status of the traffic light according to the indicator light electrical signals, where the display status can include a stop red light and a pass green light. Then, based on the vehicle status data, the display status of the traffic light and the constraint template, the vehicle driving path is calculated, and based on the vehicle status data, the target vehicle speed and driving distance are calculated, where the driving speed of the vehicle entering the port can be limited by the target vehicle speed. Finally, the vehicle driving path, driving distance and target vehicle speed are sent to the vehicle entering the port through wireless communication to realize vehicle entry control.

[0102] The beneficial effects of implementing the embodiments of the present invention include: a method for controlling the entry of terminal vehicles provided by the embodiments of the present invention first obtains a terminal vehicle information image, performs vehicle status recognition on the terminal vehicle information image, obtains vehicle status data and signal output instructions, and then converts the signal output instructions into indicator light electrical signals to change the display status of red and green signal lights, then calculates the vehicle driving path, calculates the target vehicle speed and driving distance, and finally sends the entry instruction to the vehicle entering the port, thereby realizing vehicle entry control, improving vehicle traffic efficiency and port terminal production efficiency, and reducing traffic safety hazards.

[0103] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, Figure 3 The method shown.

[0104] The contents of the above method embodiments are all applicable to the present storage medium embodiments. The functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0105] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A control system for vehicle entry into a port, characterized in that: The system comprises: An industrial network intelligent image acquisition module, which is used to acquire terminal vehicle information images; An intelligent safety data processing module, the intelligent safety data processing module is used to receive the terminal vehicle information image sent by the industrial network intelligent image acquisition module, and perform vehicle status recognition according to the terminal vehicle information image to obtain vehicle status data and signal output instructions; An intelligent relay module, the intelligent relay module is used to receive the signal output instruction sent by the intelligent safety data processing module and convert it into an indicator light electrical signal; A traffic light module, which is used to change the display state of the traffic light according to the electrical signal of the indicator light, wherein the display state includes a stop red light and a pass green light; A path planning module, the path planning module is used to calculate the vehicle driving path according to the vehicle status data, the display status of the traffic light and the constraint template, the constraint template represents the driving trajectory of the automatic guided vehicle; A vehicle speed planning module, the vehicle speed planning module is used to calculate a target vehicle speed and a driving distance according to the vehicle status data, and the target vehicle speed is used to limit the driving speed of vehicles entering the port; A message service module, the message service module is used to send the vehicle driving path, the driving distance and the target vehicle speed to the port-entering vehicle through wireless communication to achieve vehicle entry passage control; The step of calculating the vehicle driving path according to the vehicle status data, the display status of the traffic light and the constraint template includes: Set up dense magnetic nail areas in the dock area; Constructing a dense magnetic nail array in the dense magnetic nail area, wherein the dense magnetic nail array includes multiple magnetic nails, and the magnetic nails are used to represent reference points for path planning; Calculating traffic flow data based on the vehicle status data, the traffic flow data including the number of vehicles entering the port and the real-time vehicle speed in each lane; Acquiring map information through a map database, wherein the map information includes road locations, road attributes, building locations, building attributes, obstacle locations, and obstacle attributes; Calculating a feasible path through a preset path search algorithm according to the map information, the dense magnetic nail array and the constraint template; Obtaining parking space information of the loading and unloading area through the gate system, wherein the parking space information includes the number of free parking spaces and the locations of the parking spaces; According to the traffic flow data, the display status of the traffic light and the parking space information, an optimal path is selected from multiple feasible paths through a preset path optimization algorithm to obtain the vehicle driving path.

2. The system according to claim 1, characterized in that The industrial network intelligent image acquisition module includes a radar scanning submodule, which is used to identify the license plate number, vehicle model and vehicle color of the vehicle entering the port. The license plate number is used to track the driving trajectory of the vehicle entering the port, the vehicle model is used to classify the vehicle entering the port, and the vehicle color is used to distinguish the vehicles entering the port of the same model.

3. The system according to claim 2, characterized in that The system also includes a lane planning module, which is used to perform the following steps: Calculate the traffic volume according to the license plate number, vehicle model and vehicle color of the inbound vehicles; Calculating a permitted vehicle speed range according to the vehicle flow and the vehicle type; A target lane is calculated according to the permitted vehicle speed range and the vehicle type.

4. The system according to claim 1, characterized in that The signal output instruction includes a first green light display instruction, the green light for passing includes a first green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, including: Perform vehicle status recognition according to the terminal vehicle information image to obtain a first number of vehicles in a first port waiting area; If the first number of vehicles is equal to 0, the first green light display instruction is obtained, and the first green light display instruction is used to control the traffic signal light to display the first green light, and the first green light is used to prompt incoming vehicles to drive to the first incoming waiting area.

5. The system according to claim 4, characterized in that The signal output instruction further includes a second green light display instruction, the green light for passing further includes a second green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, and further includes: Performing vehicle status recognition according to the terminal vehicle information image to obtain a second number of vehicles in a second port arrival waiting area, where the second port arrival waiting area is adjacent to the first port arrival waiting area; If the first number of vehicles is greater than 0 and the second number of vehicles is equal to 0, the second green light display instruction is obtained, and the second green light display instruction is used to control the traffic light to display the second green light, and the second green light is used to prompt incoming vehicles to drive to the second incoming waiting area.

6. The system according to claim 5, characterized in that The signal output instruction further includes a third green light display instruction, the green light for passing further includes a third green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, and further includes: Performing vehicle status recognition according to the terminal vehicle information image to obtain a third number of vehicles in a third port arrival waiting area and a fourth number of vehicles in a fourth port arrival waiting area, wherein the third port arrival waiting area is adjacent to the second port arrival waiting area, and the fourth port arrival waiting area is adjacent to the third port arrival waiting area; If the fourth number of vehicles is greater than 0 and the third number of vehicles is equal to 0, the third green light display instruction is obtained, and the third green light display instruction is used to control the traffic signal light to display the third green light, and the third green light is used to prompt incoming vehicles to drive to the third incoming waiting area.

7. The system according to claim 6, characterized in that The signal output instruction further includes a fourth green light display instruction, the green light for passing further includes a fourth green light, and the vehicle status is identified according to the terminal vehicle information image to obtain the signal output instruction, and further includes: Performing vehicle status recognition according to the terminal vehicle information image to obtain the fourth number of vehicles in the fourth port arrival waiting area; If the fourth number of vehicles is equal to 0, the fourth green light display instruction is obtained, and the fourth green light display instruction is used to control the traffic signal light to display the fourth green light, and the fourth green light is used to prompt the inbound vehicles to drive to the fourth inbound waiting area.

8. A control method for a terminal vehicle entry control system according to any one of claims 1 to 7, characterized in that: include: Get the vehicle information image at the terminal; Performing vehicle status recognition on the terminal vehicle information image to obtain vehicle status data and signal output instructions; Converting the signal output instruction into an indicator light electrical signal; According to the indicator light electrical signal, changing the display state of the traffic light, wherein the display state includes a stop red light and a pass green light; Calculating a vehicle driving path according to the vehicle state data, the display state of the traffic light and the constraint template; Calculating a target vehicle speed and a driving distance according to the vehicle status data, wherein the target vehicle speed is used to limit the driving speed of vehicles entering the port; The vehicle driving path, the driving distance and the target vehicle speed are sent to the port-entering vehicle through wireless communication to achieve vehicle port-entering passage control.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to claim 8 is implemented.

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