Control method and device for short-toppling transportation of unmanned tractor and storage medium

Abstract

The invention discloses a control method and device for short-toppling transportation of an unmanned tractor and a storage medium. The control method comprises the steps that positioning information of a loading and unloading area is acquired; forming an electronic map according to the positioning information; generating an automatic operation instruction of the unmanned tractor in the loading and unloading area; generating a path navigation route on an electronic map according to the automatic operation instruction; vehicle end sensing information of the unmanned tractor and road end sensing information of the unmanned tractor in the surrounding environment of the loading and unloading area are obtained; fusing the vehicle end sensing information and the road end sensing information to generate vehicle-road cooperation information; and based on the path navigation route and the vehicle-road cooperation information, controlling the unmanned tractor to carry out full-process short reverse transportation automatic driving operation. The accuracy of the vehicle-road cooperation information in the automatic driving operation of short-toppling transportation is ensured, meanwhile, comprehensive road environment information is obtained, and the safety of automatic driving is improved. Therefore, the unmanned tractor can complete the whole-process short-toppling transportation automatic driving operation with high efficiency and high accuracy.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving control technology, and in particular to a control method, device and storage medium for short-distance transport by an unmanned tractor. Background Art

[0002] The use of unmanned tractors for short-distance transport operations in the port area can significantly reduce the port's demand for drivers and reduce related management costs after it is put into operation. However, the control of unmanned tractors often has the following problems:

[0003] 1. The perception information of the unmanned tractor is not comprehensive, which affects the safety of the unmanned tractor's automatic driving in short-distance transport operations.

[0004] 2. The operating instructions and actual navigation routes of the unmanned tractor are not accurate. During the entire process of short-distance transport automatic driving, the transportation efficiency and completion rate are often greatly reduced due to inaccurate and imprecise navigation. Summary of the invention

[0005] In order to overcome the above-mentioned background technology, when using unmanned tractors for short-distance transport operations in the terminal port area, the control of the unmanned tractors often has the following problems: 1. The perception information of the unmanned tractor is not comprehensive, which affects the automatic driving safety of the unmanned tractor in short-distance transport operations; 2. The operating instructions and actual navigation routes of the unmanned tractor are not accurate. During the entire process of short-distance transport automatic driving operations, the transportation efficiency and completion rate are often greatly reduced due to inaccurate and imprecise navigation. The purpose of the present invention is to provide a control method for short-distance transport of unmanned tractors.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a method for controlling short-distance transport by an unmanned tractor, comprising the following steps:

[0008] Obtain location information of the loading and unloading area;

[0009] forming an electronic map according to the positioning information;

[0010] generating automatic operation instructions for the unmanned tractor in the loading and unloading area;

[0011] generating a path navigation route on the electronic map according to the automatic operation instruction;

[0012] Acquire vehicle-side perception information of the unmanned tractor and road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area;

[0013] Fusion of the vehicle-side perception information and the road-side perception information to generate vehicle-road collaborative information;

[0014] Based on the path navigation route and vehicle-road collaborative information, the unmanned tractor is controlled to perform full-process short-distance transport automatic driving operations.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the vehicle-road cooperative information is used to drive the unmanned tractor to operate according to the path navigation route, thereby ensuring the accuracy of the vehicle-road cooperative information in the short-distance transport automatic driving operation, enhancing the automatic driving decision-making and planning capabilities of the unmanned tractor, and at the same time providing the automatic driving unmanned tractor with more comprehensive road environment information, thereby improving the safety of automatic driving. The path navigation route can accurately obtain the positioning information of the starting stop point and the target stop point in each operation process in the assembly area, so that the unmanned tractor can ensure high efficiency and high accuracy in completing the full process of short-distance transport automatic driving operations.

[0016] In some possible implementations, forming an electronic map according to the positioning information specifically includes the following steps:

[0017] Marking a plurality of stop points on the target route of the loading and unloading area as first positioning reference points;

[0018] One or more interval points are set on the route between two adjacent stop points, wherein the interval points divide the route between the two adjacent stop points into a plurality of small sections, and the interval points are marked as second positioning reference points;

[0019] Acquire positioning information of the positions of the first positioning reference point and the second positioning reference point;

[0020] An electronic map is formed based on the acquired positioning information.

[0021] In some possible implementations, generating the path navigation information on the electronic map according to the automatic operation instruction specifically includes the following steps:

[0022] Acquire a starting stop point and a target stop point according to the automatic operation instruction;

[0023] Obtaining the location information of the starting stop point and the location information of the target stop point input on the electronic map;

[0024] A path navigation route is generated according to the positioning information of the starting stop point and the positioning information of the target stop point.

[0025] In some possible implementations, fusing the vehicle-side perception information and the road-side perception information to generate vehicle-road cooperative information specifically includes the following steps:

[0026] Adding information timestamps to the vehicle-side perception information and the road-side perception information;

[0027] The absolute time is obtained according to the information timestamp, and the vehicle-side perception information and the road-side perception information are synchronized to the same time domain according to the absolute time and then merged into vehicle-road collaborative information.

[0028] A second aspect of the present invention provides a control device for short-distance transport of an unmanned tractor, comprising:

[0029] Positioning information acquisition module: used to obtain the positioning information of the loading and unloading area;

[0030] An electronic map construction module: used to form an electronic map according to the positioning information;

[0031] An operation instruction generation module: used to generate automatic operation instructions for the unmanned tractor in the loading and unloading area;

[0032] A path navigation module: used for generating a path navigation route on the electronic map according to the automatic operation instruction;

[0033] A vehicle-road perception information acquisition module: used to acquire vehicle-side perception information of the unmanned tractor and road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area;

[0034] A vehicle-road perception information fusion module is used to fuse the vehicle-side perception information and the road-side perception information to generate vehicle-road collaborative information;

[0035] Unmanned tractor automatic driving operation module: used to control the unmanned tractor to perform full-process short-distance transport automatic driving operation based on the path navigation route and vehicle-road collaborative information.

[0036] In some possible implementations, forming an electronic map according to the positioning information specifically includes the following steps:

[0037] Marking a plurality of stop points on the target route of the loading and unloading area as first positioning reference points;

[0038] One or more interval points are set on the route between two adjacent stop points, wherein the interval points divide the route between the two adjacent stop points into a plurality of small sections, and the interval points are marked as second positioning reference points;

[0039] Acquire positioning information of the positions of the first positioning reference point and the second positioning reference point;

[0040] An electronic map is formed based on the acquired positioning information.

[0041] In some possible implementations, generating the path navigation information on the electronic map according to the automatic operation instruction specifically includes the following steps:

[0042] Acquire a starting stop point and a target stop point according to the automatic operation instruction;

[0043] Obtaining the location information of the starting stop point and the location information of the target stop point input on the electronic map;

[0044] A path navigation route is generated according to the positioning information of the starting stop point and the positioning information of the target stop point.

[0045] In some possible implementations, fusing the vehicle-side perception information and the road-side perception information to generate vehicle-road cooperative information specifically includes the following steps:

[0046] Adding information timestamps to the vehicle-side perception information and the road-side perception information;

[0047] The absolute time is obtained according to the information timestamp, and the vehicle-side perception information and the road-side perception information are synchronized to the same time domain according to the absolute time and then merged into vehicle-road collaborative information.

[0048] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method for short-distance transport of an unmanned tractor are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flowchart of the overall steps of the control method of the unmanned tractor short-distance transport according to an embodiment of the present invention;

[0050] Figure 2 A flowchart of the steps of constructing an electronic map according to an embodiment of the present invention;

[0051] Figure 3 A flowchart of the steps of generating a path navigation route according to an embodiment of the present invention;

[0052] Figure 4 This is a flowchart of the steps of vehicle-road cooperative information fusion according to an embodiment of the present invention;

[0053] Figure 5 It is a schematic diagram of the structure of a control device for short-distance transport by an unmanned tractor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0055] The Autonomous Driving System (ADS) uses an environmental perception system installed on the vehicle to perceive the surrounding environment in real time, and uses advanced communication, computer, network and control technologies to achieve real-time and continuous control of the train. The content of environmental perception can be divided into two parts, namely road information and target information. The target information can provide the ADS decision-making system with targets in various areas around the vehicle, allowing the decision-making system to make correct responses (overtaking, deceleration, following, etc.) to achieve automatic control, while the road information provides ADS with a drivable road for lateral vehicle control to plan the path and bring the vehicle to the designated area. Therefore, the data fusion of target information and road information affects the safety and stability of the entire ADS, and can play a critical role in autonomous driving.

[0056] Vehicle-road collaboration is considered an effective means of assisting the autonomous driving system. It uses advanced wireless communications and the next generation of the Internet to implement all-round dynamic real-time information interaction between vehicles and roads, and conducts active vehicle safety control and road collaborative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective collaboration of people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thus forming a safe, efficient and environmentally friendly road traffic system. Vehicle-road collaboration relies on road-side communication protocols (such as DSRC or C-V2X) to send auxiliary traffic information and fusion perception results to vehicles on the way, so as to facilitate the vehicle-side autonomous driving decision-making.

[0057] See attached Figure 1 As shown, this embodiment provides a control method for short-distance transport by an unmanned tractor, comprising the following steps:

[0058] S1: Get the positioning information of the loading and unloading area. For outdoor use, a combination of IMU and RTK is used to obtain positioning information, and for indoor use, UWB / SLAM is used to obtain positioning information.

[0059] S2: Generate an electronic map based on the positioning information. Figure 2 As shown, the specific steps include:

[0060] S21: marking a plurality of stop points on the target route of the loading and unloading area as first positioning reference points;

[0061] S22: setting one or more interval points on the route between two adjacent stop points, wherein the interval points divide the route between the two adjacent stop points into a plurality of small sections, and marking the interval points as second positioning reference points;

[0062] S23: Acquire positioning information of the positions of the first positioning reference point and the second positioning reference point;

[0063] S24: forming an electronic map according to the acquired positioning information.

[0064] By marking several stop points on the target route of the loading and unloading area as first positioning reference points, and then setting one or more interval points on the route between two adjacent stop points, the interval points divide the route between the two adjacent stop points into multiple small sections, and the interval points are marked as second positioning reference points. These second positioning reference points can subdivide the route between the two stop points into multiple small sections to make the target route more accurate and precise. After that, the satellite positioning information (including longitude information, latitude information and altitude information) of the locations of the first positioning reference point and the second positioning reference point can be obtained one by one, and then an electronic map is formed based on the obtained satellite positioning information such as longitude information, latitude information and altitude information.

[0065] The electronic map formed by the above method uses the unmanned tractor positioning coordinate information located by the interval points between the stop points, which is much simpler and more intuitive than the coordinates located based on the ECEF or Gaussian plane coordinate system in the prior art. This not only enables the control personnel and other personnel to quickly and accurately understand the specific position of the unmanned tractor based on the relative position information located, but also enables the unmanned tractor to complete the entire process of short-distance transport automatic driving operations with high efficiency and accuracy.

[0066] S3: Generate automatic operation instructions for the unmanned tractor in the loading and unloading area. The automatic operation instructions include all positioning information and work content information from the starting stop point to the target stop point.

[0067] S4: Generate a path navigation route on the electronic map according to the automatic operation instruction. Figure 3 As shown, the specific steps include:

[0068] S41: Acquire a starting stop point and a target stop point according to the automatic operation instruction;

[0069] S42: Acquire the location information of the starting stop point and the location information of the target stop point input on the electronic map;

[0070] S43: Generate a path navigation route according to the positioning information of the starting stop point and the positioning information of the target stop point.

[0071] The positioning information of the starting and target stops in each operation process in the assembly area can be accurately obtained, so that the unmanned tractor can complete the entire process of short-distance transport automatic driving operations with high efficiency and accuracy.

[0072] S5: Acquire vehicle-side perception information of the unmanned tractor and road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area.

[0073] S6: Fusing the vehicle-side perception information and the road-side perception information to generate vehicle-road cooperative information. Figure 4 As shown, the specific steps include:

[0074] S61: adding information timestamps to the vehicle-side perception information and the road-side perception information;

[0075] S62: Obtain absolute time according to the information timestamp, and synchronize the vehicle-side perception information and the road-side perception information to the same time domain according to the absolute time and then fuse them into vehicle-road collaborative information.

[0076] Specifically, the perception information collected by the road-side sensors and the vehicle-side sensors are recorded with corresponding timestamps. The timestamp can be a relative time (i.e., recording the offset time after the sensor is powered on) or an absolute time (i.e., recording the local absolute time of the sensor). Regardless of the recording method used, the time difference between the relative time and the absolute time can be obtained through the synchronization protocol, and then the absolute time (i.e., the instantaneous time when the sensor collects the perception data) is converted according to the time difference, so as to perform spatial alignment according to the absolute time, synchronize the vehicle-side perception information and the road-side perception information to the same time domain, and then merge them into vehicle-road collaborative information. This allows the vehicle-side perception information and the road-side perception information to maintain synchronization and consistency, ensuring the accuracy of the vehicle-road collaborative information. At the same time, it enables the autonomous driving unmanned tractor to obtain more comprehensive road environment information, thereby improving the safety of autonomous driving.

[0077] S7: Based on the path navigation route and vehicle-road cooperative information, the unmanned tractor is controlled to perform full-process short-distance transport automatic driving operations.

[0078] The above-mentioned vehicle-road cooperative information drives the unmanned tractor to operate according to the path navigation route, ensuring the accuracy of the vehicle-road cooperative information in the short-distance transport automatic driving operation, enhancing the automatic driving decision-making and planning capabilities of the unmanned tractor, and at the same time providing the automatic driving unmanned tractor with more comprehensive road environment information, thereby improving the safety of automatic driving. The above-mentioned path navigation route can accurately obtain the positioning information of the starting stop point and the target stop point in each operation process in the assembly area, so that the unmanned tractor can ensure high efficiency and high accuracy in completing the full process of short-distance transport automatic driving operations.

[0079] See attached Figure 5 As shown, this embodiment also provides a control device for short-distance transport of an unmanned tractor, and the control method for short-distance transport of an unmanned tractor is applied. The control device includes

[0080] Positioning information acquisition module: used to obtain the positioning information of the loading and unloading area;

[0081] An electronic map construction module: used to form an electronic map according to the positioning information;

[0082] An operation instruction generation module: used to generate automatic operation instructions for the unmanned tractor in the loading and unloading area;

[0083] A path navigation module: used for generating a path navigation route on the electronic map according to the automatic operation instruction;

[0084] A vehicle-road perception information acquisition module: used to acquire vehicle-side perception information of the unmanned tractor and road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area;

[0085] A vehicle-road perception information fusion module is used to fuse the vehicle-side perception information and the road-side perception information to generate vehicle-road collaborative information;

[0086] Unmanned tractor automatic driving operation module: used to control the unmanned tractor to perform full-process short-distance transport automatic driving operation based on the path navigation route and vehicle-road collaborative information.

[0087] The device first obtains the positioning information of the loading and unloading area through the positioning information acquisition module, and then forms an electronic map according to the positioning information through the electronic map construction module. The control personnel generate automatic operation instructions for the unmanned tractor in the loading and unloading area through the operation instruction generation module; the path navigation module generates a path navigation route on the electronic map according to the automatic operation instruction, and the unmanned tractor obtains the vehicle-side perception information of the unmanned tractor and the road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area through the vehicle-road perception information acquisition module; then the vehicle-road perception information fusion module: fuses the vehicle-side perception information and the road-side perception information to generate vehicle-road collaborative information; the unmanned tractor automatic driving operation module: controls the unmanned tractor to perform the full-process short-distance transport automatic driving operation based on the path navigation route and the vehicle-road collaborative information.

[0088] The above-mentioned vehicle-road cooperative information drives the unmanned tractor to operate according to the path navigation route, ensuring the accuracy of the vehicle-road cooperative information in the short-distance transport automatic driving operation, enhancing the automatic driving decision-making and planning capabilities of the unmanned tractor, and at the same time providing the automatic driving unmanned tractor with more comprehensive road environment information, thereby improving the safety of automatic driving. The above-mentioned path navigation route can accurately obtain the positioning information of the starting stop point and the target stop point in each operation process in the assembly area, so that the unmanned tractor can ensure high efficiency and high accuracy in completing the full process of short-distance transport automatic driving operations.

[0089] In some implementations, forming an electronic map according to the positioning information specifically includes the following steps:

[0090] Marking a plurality of stop points on the target route of the loading and unloading area as first positioning reference points;

[0091] One or more interval points are set on the route between two adjacent stop points, wherein the interval points divide the route between the two adjacent stop points into a plurality of small sections, and the interval points are marked as second positioning reference points;

[0092] Acquire positioning information of the positions of the first positioning reference point and the second positioning reference point;

[0093] An electronic map is formed based on the acquired positioning information.

[0094] In some implementations, generating path navigation information on the electronic map according to the automatic operation instruction specifically includes the following steps:

[0095] Acquire a starting stop point and a target stop point according to the automatic operation instruction;

[0096] Obtaining the location information of the starting stop point and the location information of the target stop point input on the electronic map;

[0097] A path navigation route is generated according to the positioning information of the starting stop point and the positioning information of the target stop point.

[0098] In some implementations, fusing the vehicle-side perception information and the road-side perception information to generate vehicle-road cooperative information specifically includes the following steps:

[0099] Adding information timestamps to the vehicle-side perception information and the road-side perception information;

[0100] The absolute time is obtained according to the information timestamp, and the vehicle-side perception information and the road-side perception information are synchronized to the same time domain according to the absolute time and then merged into vehicle-road collaborative information.

[0101] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method for short-distance transport by an unmanned tractor are implemented.

[0102] The storage medium stores program instructions that can implement all the above methods, wherein the program instructions can be stored in the above storage medium in the form of a software product, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, or a tablet.

[0103] The processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor may also be:

[0104] DSP (Digital Signal Processor, digital signal processor, digital signal processor is a processor composed of large-scale or ultra-large-scale integrated circuit chips to complete certain signal processing tasks. It has gradually developed to meet the needs of high-speed real-time signal processing tasks. With the development of integrated circuit technology and digital signal processing algorithms, the implementation methods of digital signal processors are constantly changing, and the processing functions are constantly improving and expanding.)

[0105] ASIC (Application Specific Integrated Circuit) is an integrated circuit designed and manufactured to meet the needs of specific users and specific electronic systems.

[0106] FPGA (Field Programmable Gate Array) is a product further developed on the basis of programmable devices such as PAL (Programmable Array Logic) and GAL (generic array logic). It emerged as a semi-custom circuit in the field of application-specific integrated circuits (ASICs), which not only solves the shortcomings of custom circuits, but also overcomes the shortcomings of the limited number of gate circuits of the original programmable devices.

[0107] A general-purpose processor may be a microprocessor or any conventional processor.

[0108] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for short-distance transport by an unmanned tractor, characterized in that: The steps include: Obtain location information of the loading and unloading area; forming an electronic map according to the positioning information; generating automatic operation instructions for the unmanned tractor in the loading and unloading area; generating a path navigation route on the electronic map according to the automatic operation instruction; Acquire vehicle-side perception information of the unmanned tractor and road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area; Fusion of the vehicle-side perception information and the road-side perception information to generate vehicle-road collaborative information; Based on the path navigation route and vehicle-road collaborative information, the unmanned tractor is controlled to perform full-process short-distance transport automatic driving operations.

2. The control method for short-distance transport by an unmanned tractor according to claim 1 is characterized in that: Forming an electronic map according to the positioning information specifically includes the following steps: Marking a plurality of stop points on the target route of the loading and unloading area as first positioning reference points; One or more interval points are set on the route between two adjacent stop points, wherein the interval points divide the route between the two adjacent stop points into a plurality of small sections, and the interval points are marked as second positioning reference points; Acquire positioning information of the positions of the first positioning reference point and the second positioning reference point; An electronic map is formed based on the acquired positioning information.

3. The control method for short-distance transport by an unmanned tractor according to claim 1 is characterized in that: Generating the path navigation information on the electronic map according to the automatic operation instruction specifically includes the following steps: Acquire a starting stop point and a target stop point according to the automatic operation instruction; Obtaining the location information of the starting stop point and the location information of the target stop point input on the electronic map; A path navigation route is generated according to the positioning information of the starting stop point and the positioning information of the target stop point.

4. The control method for short-distance transport by an unmanned tractor according to claim 1 is characterized in that: The steps of fusing the vehicle-side perception information and the road-side perception information to generate vehicle-road cooperative information specifically include the following steps: Adding information timestamps to the vehicle-side perception information and the road-side perception information; The absolute time is obtained according to the information timestamp, and the vehicle-side perception information and the road-side perception information are synchronized to the same time domain according to the absolute time and then merged into vehicle-road collaborative information.

5. The control device for short-distance transport of unmanned tractor is characterized by: include Positioning information acquisition module: used to obtain the positioning information of the loading and unloading area; An electronic map construction module: used to form an electronic map according to the positioning information; An operation instruction generation module: used to generate automatic operation instructions for the unmanned tractor in the loading and unloading area; A path navigation module: used for generating a path navigation route on the electronic map according to the automatic operation instruction; A vehicle-road perception information acquisition module: used to acquire vehicle-side perception information of the unmanned tractor and road-side perception information of the unmanned tractor in the surrounding environment of the loading and unloading area; A vehicle-road perception information fusion module is used to fuse the vehicle-side perception information and the road-side perception information to generate vehicle-road collaborative information; Unmanned tractor automatic driving operation module: used to control the unmanned tractor to perform full-process short-distance transport automatic driving operation based on the path navigation route and vehicle-road collaborative information.

6. The control device for short-distance transport of an unmanned tractor according to claim 5, characterized in that: Forming an electronic map according to the positioning information specifically includes the following steps: Marking a plurality of stop points on the target route of the loading and unloading area as first positioning reference points; One or more interval points are set on the route between two adjacent stop points, wherein the interval points divide the route between the two adjacent stop points into a plurality of small sections, and the interval points are marked as second positioning reference points; Acquire positioning information of the positions of the first positioning reference point and the second positioning reference point; An electronic map is formed based on the acquired positioning information.

7. The control device for short-distance transport of an unmanned tractor according to claim 5, characterized in that: Generating the path navigation information on the electronic map according to the automatic operation instruction specifically includes the following steps: Acquire a starting stop point and a target stop point according to the automatic operation instruction; Obtaining the location information of the starting stop point and the location information of the target stop point input on the electronic map; A path navigation route is generated according to the positioning information of the starting stop point and the positioning information of the target stop point.

8. The control device for short-distance transport of an unmanned tractor according to claim 5, characterized in that: The steps of fusing the vehicle-side perception information and the road-side perception information to generate vehicle-road cooperative information specifically include the following steps: Adding information timestamps to the vehicle-side perception information and the road-side perception information; The absolute time is obtained according to the information timestamp, and the vehicle-side perception information and the road-side perception information are synchronized to the same time domain according to the absolute time and then merged into vehicle-road collaborative information.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method for short-distance transport by an unmanned tractor are implemented as described in any one of claims 1 to 4.

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