Port vehicle scheduling method, device and equipment and storage medium

Abstract

The invention discloses a port vehicle scheduling method, device and equipment and a storage medium, and relates to the technical field of vehicle control, the method is applied to a port vehicle scheduling system, the port vehicle scheduling system comprises a roadside sensing unit, and the method comprises the steps that sensing target information in a port area is acquired through the roadside sensing unit; obtaining driving information of a vehicle to be dispatched; based on the sensing target information and the driving information, performing prediction classification on a sensing target to obtain a prediction classification result; and based on a preset vehicle passing algorithm, according to the prediction classification result, carrying out vehicle scheduling on the to-be-scheduled vehicle. According to the invention, port vehicle scheduling can be optimized, and port vehicle operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a port vehicle scheduling method, device, equipment and storage medium. Background Art

[0002] In existing operating ports, there is often a phenomenon of mixed operations of autonomous vehicles and manned vehicles. However, since the autonomous vehicle itself has a limited perception area and can only perceive the traffic environment around the autonomous vehicle, it is difficult for the terminal dispatching system to plan the optimal route and vehicle driving parameters (such as vehicle driving speed, acceleration and other parameters) during the operation of the autonomous vehicle, which affects the port operation efficiency.

[0003] Therefore, the current terminal dispatching system for autonomous vehicles has difficulty planning the optimal routes and vehicle driving parameters, resulting in low port operations.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a port vehicle scheduling method, device, equipment and storage medium, aiming to solve the technical problems that the current terminal scheduling system for autonomous driving vehicles is difficult to plan the optimal route and the vehicle driving parameters cause low port operations.

[0006] To achieve the above object, the present application proposes a port vehicle dispatching method, which is applied to a port vehicle dispatching system, wherein the port vehicle dispatching system includes a roadside sensing unit, and the method includes:

[0007] Acquiring sensing target information in the port area through the roadside sensing unit;

[0008] Obtain the driving information of the vehicle to be dispatched;

[0009] Based on the perceived target information and the driving information, predict and classify the perceived target to obtain a prediction and classification result;

[0010] Based on a preset vehicle traffic algorithm and according to the predicted classification result, the vehicles to be dispatched are dispatched.

[0011] In one embodiment, the perceived target information includes perceived target contour information, perceived target position information, and perceived target speed information. The step of predicting and classifying the perceived target based on the perceived target information and the driving information to obtain a predicted classification result includes:

[0012] Predicting the trajectory of the perceived target according to the perceived target position information and the perceived target speed information to obtain a perceived target predicted trajectory;

[0013] Based on the predicted trajectory of the perceived target, the contour information of the perceived target and the driving information, combined with a preset port map, confirm whether there is path interference between the perceived target and the vehicle to be dispatched, and obtain a path interference result;

[0014] According to the path interference result, the sensed target is classified to obtain a predicted classification result.

[0015] In one embodiment, the sensed targets include a first sensed target, a second sensed target, and a third sensed target, and the step of classifying the sensed targets according to the path interference result to obtain a predicted classification result includes:

[0016] When the path interference result is that there is no path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is the first perceived target;

[0017] When the path interference result is that there may be path interference between the perceived target and the to-be-dispatched vehicle, the prediction classification result is that the perceived target is a second perceived target;

[0018] When the path interference result is that there is path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is a third perceived target.

[0019] In one embodiment, the driving information includes a driving path of the first vehicle, and before the step of dispatching the vehicle to be dispatched based on the preset vehicle traffic algorithm and the predicted classification result, the step further includes:

[0020] When the predicted classification result is that the perception target is the first perception target, based on the preset maximum travel speed, the vehicle to be dispatched is dispatched to travel normally along the first vehicle travel path.

[0021] In one embodiment, the step of dispatching the vehicles to be dispatched based on the preset vehicle traffic algorithm and the predicted classification result includes:

[0022] When the predicted classification result is that the perception target is the second perception target or the third perception target, replanning the vehicle driving path according to the driving information and the perception target information to obtain a second vehicle driving path;

[0023] Determining whether the second vehicle driving path meets the preset vehicle operation requirements;

[0024] When the second vehicle driving path meets the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the sensed target information, the traffic priority of each road section of the vehicle to be dispatched in the second vehicle driving path is calculated;

[0025] Based on the traffic priority of each road section, the driving state of the vehicle to be dispatched is controlled.

[0026] In one embodiment, the preset vehicle traffic algorithm includes a plurality of preset evaluation objects, and when the second vehicle driving path meets the preset vehicle operation requirements, the step of calculating the traffic priority of each road section of the to-be-dispatched vehicle in the second vehicle driving path based on the preset vehicle traffic algorithm and according to the driving information and the sensed target information includes:

[0027] When the second vehicle driving path meets the preset vehicle operation requirements, a plurality of road sections to be passed are obtained in combination with the preset port map;

[0028] Based on a preset vehicle traffic algorithm, obtaining relevant information of a preset evaluation object of the to-be-dispatched vehicle in the to-be-traveled road section from the driving information and the sensed target information according to a preset period, and obtaining vehicle traffic evaluation information;

[0029] Determine the corresponding parameter weights and object weights of the preset evaluation objects of the to-be-dispatched vehicle in each pass section according to the preset vehicle pass algorithm and the vehicle pass evaluation information;

[0030] Calculating the comprehensive weight of the vehicle to be dispatched on several sections to be passed according to the parameter weight and the object weight;

[0031] Based on the comprehensive weight, the passing priority of the vehicle to be dispatched on the road section to be passed is determined.

[0032] In one embodiment, when the second vehicle driving path meets the preset vehicle operation requirements, after the step of performing vehicle dispatching on the to-be-dispatched vehicle based on the preset vehicle traffic algorithm and the second vehicle driving path, the step further includes:

[0033] When the driving path of the second vehicle does not meet the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the sensed target information, the traffic priority of each road section of the to-be-dispatched vehicle in the driving path of the first vehicle is calculated;

[0034] Based on the traffic priority of each road section, the driving state of the vehicle to be dispatched is controlled.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a port vehicle dispatching device, which is applied to a port vehicle dispatching system, the port vehicle dispatching system includes a roadside sensing unit, and the port vehicle dispatching device includes:

[0036] A perception target acquisition module, used to acquire perception target information in the port area through the roadside perception unit;

[0037] The vehicle information acquisition module is used to obtain the driving information of the vehicle to be dispatched;

[0038] A prediction and classification module, used to predict and classify the perceived target based on the perceived target information and the driving information to obtain a prediction and classification result;

[0039] The vehicle dispatching module is used to dispatch the vehicles to be dispatched based on a preset vehicle traffic algorithm and according to the predicted classification results.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a port vehicle scheduling device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the port vehicle scheduling method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the port vehicle scheduling method described above are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] The port vehicle dispatching method, device, equipment and storage medium proposed in the embodiments of the present application specifically obtain the perception target information in the port area through the roadside perception unit; obtain the driving information of the vehicle to be dispatched; based on the perception target information and the driving information, predict and classify the perception target to obtain the prediction classification result; based on the preset vehicle traffic algorithm, perform vehicle dispatch on the vehicle to be dispatched according to the prediction classification result.

[0044] This application obtains the perception target information in the port area through the roadside perception unit, and obtains the driving information of the vehicle to be dispatched at the same time; then, according to the perception target information and the driving information of the vehicle to be dispatched, the perception target is predicted and classified, so as to obtain the perception target that affects the vehicle to be dispatched from the prediction and classification results; then, according to the preset vehicle traffic algorithm, combined with the relevant information of the perception target that affects the vehicle to be dispatched, the vehicle to be dispatched is dispatched, and the global traffic variables can be obtained according to all the perception target information in the port area, and then combined with the driving information of the vehicle to be dispatched, the automatic dispatch of the vehicle to be dispatched can be realized. Through the above scheme, this application solves the problem that the current terminal dispatch system for autonomous driving vehicles is difficult to plan the optimal route and vehicle driving parameters, resulting in low port operations. It can optimize the dispatch of port vehicles and improve the efficiency of port vehicle operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] Figure 1 A flow chart of the first embodiment of the port vehicle dispatching method of the present application;

[0048] Figure 2 A flow chart of the second embodiment of the port vehicle dispatching method of the present application;

[0049] Figure 3 A flow chart of the third embodiment of the port vehicle dispatching method of the present application;

[0050] Figure 4 A flow chart of the fourth embodiment of the port vehicle dispatching method of the present application;

[0051] Figure 5 A flow chart of the fifth embodiment of the port vehicle dispatching method of the present application;

[0052] Figure 6 This is a schematic diagram of the module structure of the port vehicle dispatching device according to an embodiment of the present application;

[0053] Figure 7 Schematic diagram of the equipment structure of the hardware operating environment involved in the port vehicle scheduling method in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present application is: through the roadside perception unit, the perception target information in the port area is obtained; the driving information of the vehicle to be dispatched is obtained; based on the perception target information and the driving information, the perception target is predicted and classified to obtain the prediction classification result; based on the preset vehicle traffic algorithm, the vehicle to be dispatched is dispatched according to the prediction classification result.

[0058] Technical terms involved in the embodiments of the present invention:

[0059] Port bay: Port bay refers to the location in the port for ships to dock, usually a section of space at the edge of the pier, used for loading and unloading cargo or passengers boarding and disembarking. Bays are an important part of port operations and are crucial to ensuring the safe berthing and efficient operation of ships.

[0060] Roadside Perception Unit (RPU): RPU refers to intelligent sensing devices installed around the road to collect and process information from vehicles and the environment on the road. These intelligent sensing devices can provide real-time data such as road conditions, traffic flow, and vehicle behavior to support various applications and services of intelligent transportation systems.

[0061] In existing operating ports, there is often a phenomenon of mixed operations of autonomous vehicles and manned vehicles. However, since the autonomous vehicle itself has a limited perception area and can only perceive the traffic environment around the autonomous vehicle, it is difficult for the terminal dispatching system to plan the optimal route and vehicle driving parameters (such as vehicle driving speed, acceleration and other parameters) during the operation of the autonomous vehicle, which affects the port operation efficiency.

[0062] For example, due to the limitations of the port operating environment, when an autonomous driving vehicle drives to an intersection with blocked vision, it cannot obtain the vehicle information of manned vehicles, including their location, speed, driving trends, etc., resulting in the autonomous driving vehicle having to reduce its autonomous driving speed to safely pass through the intersection, affecting operating efficiency; or when the autonomous driving vehicle is driving and the vehicle in front stops, the autonomous driving vehicle cannot judge the length of the congested convoy ahead, and the autonomous driving vehicle cannot judge whether it should change lanes to overtake, resulting in some scenarios where lane changing and overtaking should be done but not done, affecting operating efficiency.

[0063] The present application provides a solution, which obtains the perception target information in the port area through the roadside perception unit, and obtains the driving information of the vehicle to be dispatched at the same time; then, according to the perception target information and the driving information of the vehicle to be dispatched, the perception target is predicted and classified, so as to obtain the perception target that affects the vehicle to be dispatched from the prediction and classification results; then, according to the preset vehicle traffic algorithm, combined with the relevant information of the perception target that affects the vehicle to be dispatched, the vehicle to be dispatched is dispatched, and the global traffic variables can be obtained according to all the perception target information in the port area, and then combined with the driving information of the vehicle to be dispatched, the automatic dispatch of the vehicle to be dispatched can be realized. Through the above solution, the present application solves the problem that the current terminal dispatch system for autonomous driving vehicles is difficult to plan the optimal route and vehicle driving parameters, resulting in low port operations, and can optimize the dispatch of port vehicles and improve the efficiency of port vehicle operations.

[0064] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network port vehicle dispatching and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a port vehicle dispatching system, etc. The following takes the port vehicle dispatching system as an example to illustrate this embodiment and the following embodiments.

[0065] Based on this, the embodiment of the present application provides a port vehicle scheduling method, referring to Figure 1 , Figure 1 A flow chart of the first embodiment of the port vehicle dispatching method of the present application is provided.

[0066] In this embodiment, the method is applied to a port vehicle dispatching system, the port vehicle dispatching system includes a roadside sensing unit, and the method includes steps S110 to S140:

[0067] Step S110, acquiring sensing target information in the port area through the roadside sensing unit;

[0068] Step S120, obtaining the driving information of the vehicle to be dispatched;

[0069] In this embodiment, the roadside sensing unit includes but is not limited to millimeter wave radar, lidar, camera, infrared sensor, ground sensor coil, edge computing platform and related wireless and wired communication systems. Among them, the sensing target refers to the object or information sensed by the roadside sensing unit, including but not limited to large vehicles, small vehicles, flow machines, pedestrians, obstacles, infrastructure status, traffic jams, etc. It should be understood that in order to enable the port vehicle dispatching system to perceive global traffic variables through the roadside sensing unit, the roadside sensing unit can be pre-set in the road area within the port operation area to achieve full coverage perception of the port area. Among them, the road area includes the port main road, operation lanes, yard and shore bordering operation lanes and the gate buffer zone.

[0070] It can be understood that since the technical solution proposed in the present application is actually applied to vehicle dispatching of autonomous driving vehicles in the port area, step S110 is required. First, the port vehicle dispatching system obtains all the perception target information in the port area through the roadside perception unit. At the same time, through the current driving status of the vehicle to be dispatched, the associated task information of the vehicle to be dispatched is obtained through the task management system. Finally, the driving information of the vehicle to be dispatched is comprehensively obtained, so that the perception target information can be used later to obtain global traffic variables, and then combined with the driving information of the vehicle to be dispatched, the automatic dispatch of the vehicle to be dispatched is realized.

[0071] Among them, the perceived target information includes but is not limited to target classification, target precise position, target contour, target speed, target speed direction, etc.; the driving information of the vehicle to be dispatched includes but is not limited to the starting and ending positions of the working task of the vehicle to be dispatched, the position of the vehicle to be dispatched, the preset driving path of the vehicle to be dispatched, the working task information performed by the vehicle to be dispatched, the number of times of giving way to other vehicles, etc.

[0072] The preset driving route is the shortest route pre-planned by the vehicle dispatching system based on the vehicle operation task. The operation task information includes task type, task priority, operation task sequence, task time window and other information.

[0073] It should be understood that the above-mentioned target position or the position information of the vehicle to be dispatched may be based on a port coordinate system or a global coordinate system.

[0074] Step S130, predicting and classifying the perceived target based on the perceived target information and the driving information to obtain a prediction and classification result;

[0075] Specifically, the port vehicle dispatching system receives the perceived target information and the driving information of the vehicle to be dispatched, and analyzes the above information through big data and artificial intelligence algorithms to predict the driving trajectory, lane, position, speed and other information of the perceived target when the vehicle to be dispatched is traveling according to the preset driving path, confirm whether the perceived target will cause an obstacle to the driving of the vehicle to be dispatched or when the obstacle will occur, and at the same time, combined with the driving information of the vehicle to be dispatched, perform real-time dispatch of the driving speed, driving path or driving direction of the vehicle to be dispatched, thereby improving the efficiency of port vehicle operations.

[0076] In a feasible implementation manner, the sensed target information includes sensed target contour information, sensed target position information and sensed target speed information, and the step S130 may include steps A01 to A03:

[0077] Step A01, predicting the trajectory of the perceived target according to the perceived target position information and the perceived target speed information to obtain a predicted trajectory of the perceived target;

[0078] Specifically, the port vehicle dispatching system first predicts the trajectory of the perceived target within a preset time period through the perception target position information and the perception target speed information, that is, through the perception target's precise position information, the perception target's current speed, the perception target's current speed direction and other information, through big data and artificial intelligence algorithms, thereby obtaining the perceived target predicted trajectory. In this embodiment, the preset time period is a cycle time period of the perception target set by relevant personnel according to actual vehicle dispatching needs, which can be achieved by setting a timed trajectory prediction task.

[0079] Step A02, based on the predicted trajectory of the perceived target, the contour information of the perceived target and the driving information, combined with a preset port map, confirming whether there is path interference between the perceived target and the vehicle to be dispatched, and obtaining a path interference result;

[0080] Step A03: classify the sensed target according to the path interference result to obtain a predicted classification result.

[0081] Then, based on the predicted trajectory of the perceived target and the contour information of the perceived target (the length, width, and height information of the contour of the perceived target), combined with the preset driving path of the vehicle to be dispatched, the contour information of the vehicle to be dispatched, and the preset map, it is determined whether the vehicle to be dispatched will encounter the perceived target in the passing road area when following the preset driving path, and whether the encounter will affect the driving of the vehicle to be dispatched, and further confirm whether there is path interference between the perceived target and the vehicle to be dispatched, and obtain the path interference result. Among them, the preset map refers to the road area of ​​the entire port and the location information of the operation area pre-set in the port dispatching system by relevant personnel, including the number of roads in the port area, road structure, turning points, intersections and other key location information, which can be based on the port coordinate system or the global coordinate system.

[0082] Finally, the perceived targets in the port area are classified by the path interference results between the perceived targets and the vehicles to be dispatched, and the predicted classification results are obtained.

[0083] In a feasible implementation manner, the sensing target includes a first sensing target, a second sensing target and a third sensing target, and the step A03 may include steps B01 to B03:

[0084] Step B01, when the path interference result is that there is no path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is the first perceived target;

[0085] Step B02, when the path interference result is that there may be path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is a second perceived target;

[0086] Step B03: when the path interference result is that there is path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is a third perceived target.

[0087] Specifically, when the vehicle to be dispatched will never encounter the perceived target in the passing road area according to the preset driving path, there is no path interference between the perceived target and the vehicle to be dispatched, and the predicted classification result of the perceived target at this time is that the perceived target is the first perceived target.

[0088] When the vehicle to be dispatched meets the perception target in the road area it passes through according to the preset driving path, and the perception target and the vehicle to be dispatched meet at complex road areas such as intersections and T-junctions, there is a risk of collision with each other, thereby affecting the driving of the vehicle to be dispatched. At this time, there may be path interference between the perception target and the vehicle to be dispatched. At this time, the predicted classification result of the perception target is that the perception target is the second perception target.

[0089] When the vehicle to be dispatched meets the perceived target in the road area along the preset driving path, and when the vehicle to be dispatched and the perceived target cannot coexist on the road, they will collide with each other, thereby affecting the driving of the vehicle to be dispatched. At this time, there is path interference between the perceived target and the vehicle to be dispatched, and the predicted classification result of the perceived target at this time is that the perceived target is the third perceived target.

[0090] Step S140, based on a preset vehicle traffic algorithm and according to the predicted classification result, the vehicles to be dispatched are dispatched.

[0091] It should be noted that the preset vehicle traffic algorithm is pre-set by relevant personnel in the port vehicle dispatching system to confirm the traffic priority of the vehicles to be dispatched on the route, especially when there are multiple vehicles to be dispatched. The preset vehicle traffic algorithm can be an ant colony algorithm, a reinforcement learning algorithm, a neural network algorithm, a multi-objective optimization algorithm, etc. The preset vehicle traffic algorithm can consider multiple factors, such as traffic flow, road conditions, vehicle type, destination location, time window, etc., to optimize the dispatching strategy for the vehicles to be dispatched.

[0092] Specifically, based on the predicted classification results, the feasibility of the vehicle to be dispatched following the preset driving route is confirmed, and then the driving route of the vehicle to be dispatched is optimized through the preset vehicle traffic algorithm, or the driving strategy on the preset driving route, including acceleration, deceleration, giving way, turning and other actions, so as to realize automatic dispatch of the vehicle to be dispatched, thereby improving the efficiency of port vehicle operations.

[0093] This embodiment provides a port vehicle scheduling method, which obtains the perception target information in the port area through the roadside perception unit; obtains the driving information of the vehicle to be scheduled; based on the perception target information and the driving information, predicts and classifies the perception target to obtain a prediction classification result; based on a preset vehicle traffic algorithm, the vehicle to be scheduled is scheduled according to the prediction classification result.

[0094] This application obtains the perception target information in the port area through the roadside perception unit, and obtains the driving information of the vehicle to be dispatched at the same time; then, according to the perception target information and the driving information of the vehicle to be dispatched, the perception target is predicted and classified, so as to obtain the perception target that affects the vehicle to be dispatched from the prediction and classification results; then, according to the preset vehicle traffic algorithm, combined with the relevant information of the perception target that affects the vehicle to be dispatched, the vehicle to be dispatched is dispatched, and the global traffic variables can be obtained according to all the perception target information in the port area, and then combined with the driving information of the vehicle to be dispatched, the automatic dispatch of the vehicle to be dispatched can be realized. Through the above scheme, this application solves the problem that the current terminal dispatch system for autonomous driving vehicles is difficult to plan the optimal route and vehicle driving parameters, resulting in low port operations. It can optimize the dispatch of port vehicles and improve the efficiency of port vehicle operations.

[0095] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can refer to the above description, and no further description will be given later. On this basis, the driving information includes the driving path of the first vehicle, please refer to Figure 2 , before the above step S140, further comprising step S210:

[0096] Step S210: When the predicted classification result is that the perception target is the first perception target, based on a preset maximum travel speed, the vehicle to be dispatched is dispatched to travel normally along the first vehicle travel path.

[0097] It can be understood that in order to improve the vehicle dispatching efficiency of the port vehicle dispatching system, the dispatching strategy for the vehicle to be dispatched when the perception target is the first perception target can be simplified so that the vehicle to be dispatched can complete the task at the maximum speed and in the shortest time.

[0098] It should be noted that the preset maximum passing speed refers to the maximum permissible speed pre-set for the vehicle to be dispatched in the port environment, taking into account factors such as safety and efficiency. In this embodiment, when the predicted classification result is that the perception target is the first perception target, that is, there is no interference between the perception target and the vehicle to be dispatched, the vehicle to be dispatched can follow the preset driving path, that is, the first vehicle driving path, and drive normally at the preset maximum permissible speed to reach the operating area.

[0099] It should be understood that the preset maximum speeds may be different in different road areas of the port, and the preset maximum speed of the above-mentioned vehicle to be dispatched may be the minimum value selected from all the preset maximum speeds in the area where the vehicle to be dispatched passes.

[0100] This embodiment provides a port vehicle dispatching method, which obtains the perception target information in the port area through the roadside perception unit; obtains the driving information of the vehicle to be dispatched; predicts the trajectory of the perception target according to the perception target position information and the perception target speed information to obtain the perception target predicted trajectory; based on the perception target predicted trajectory, the perception target contour information and the driving information, combined with a preset port map, confirms whether there is path interference between the perception target and the vehicle to be dispatched, and obtains a path interference result; when the path interference result is that there is no path interference between the perception target and the vehicle to be dispatched, the prediction classification result is the perception target predicted trajectory. The known target is the first perceived target; when the path interference result is that the perceived target and the vehicle to be dispatched may have path interference, the predicted classification result is that the perceived target is the second perceived target; when the path interference result is that the perceived target and the vehicle to be dispatched have path interference, the predicted classification result is that the perceived target is the third perceived target; when the predicted classification result is that the perceived target is the first perceived target, based on the preset maximum passing speed, the vehicle to be dispatched is dispatched to travel normally along the first vehicle driving path; based on the preset vehicle passage algorithm, according to the predicted classification result, the vehicle to be dispatched is dispatched.

[0101] The present application simplifies the situation when the perception target is the first perception target, so that the vehicle to be dispatched travels at the maximum allowed speed according to the first vehicle driving path, thereby further improving the vehicle dispatching efficiency of the port vehicle dispatching system and improving the efficiency of port vehicle operations.

[0102] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can refer to the above introduction, and will not be repeated later. Figure 3 The step S140 includes steps S310 to S340:

[0103] Step S310, when the predicted classification result is that the perception target is the second perception target or the third perception target, replanning the vehicle driving path according to the driving information and the perception target information to obtain a second vehicle driving path;

[0104] Specifically, when the predicted classification result is that the perception target is the second perception target or the third perception target, that is, there may be or is interference between the perception target and the vehicle to be dispatched, the port vehicle dispatching system needs to re-plan the preset driving path in the driving information of the vehicle to be dispatched, that is, the first vehicle driving path, in order to improve the vehicle dispatching efficiency and improve the vehicle driving safety, so as to obtain the second vehicle driving path.

[0105] Step S320, determining whether the second vehicle driving path meets the preset vehicle operation requirements;

[0106] Step S330, when the second vehicle driving path meets the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the sensed target information, the traffic priority of each road section of the vehicle to be dispatched in the second vehicle driving path is calculated;

[0107] Step S340: Control the driving status of the vehicle to be dispatched based on the traffic priority of each road section.

[0108] Then, in order to ensure that the modified vehicle driving path meets the compliance of vehicle driving, it is necessary to judge the second vehicle driving path to confirm whether the second vehicle driving path meets the preset vehicle operation requirements. The preset vehicle operation requirements refer to the vehicle operation requirements pre-set by relevant personnel based on vehicle scheduling requirements, including whether the operation target position can be reached normally and whether the vehicle body posture is in an operable posture.

[0109] Only when the driving path of the second vehicle meets the preset vehicle operation requirements, the port vehicle dispatching system will obtain the vehicle position, speed, acceleration, driving direction and other information of the current vehicle according to the driving information of the vehicle to be dispatched, and obtain the perceived target information on the driving path of the second vehicle (such as the position, speed, driving intention of other vehicles or pedestrians, etc.), and combine it with the preset vehicle passage algorithm to calculate the passage priority of each section of the second vehicle's driving path.

[0110] Finally, in each section of the second vehicle's driving path, by obtaining the traffic priority of each section of the vehicle to be dispatched and finely adjusting the throttle, brake and steering systems of the vehicle to be dispatched, the driving state of the vehicle to be dispatched can be flexibly changed, including but not limited to adjusting the vehicle speed, achieving smooth lane change, executing acceleration or deceleration operations, and even executing stop and wait instructions when necessary, so as to ensure the safety and efficiency of the driving process.

[0111] The present embodiment provides a port vehicle dispatching method, which obtains the perception target information in the port area through the roadside perception unit; obtains the driving information of the vehicle to be dispatched; predicts the trajectory of the perception target according to the perception target position information and the perception target speed information to obtain the perception target predicted trajectory; based on the perception target predicted trajectory, the perception target contour information and the driving information, combined with a preset port map, confirms whether there is path interference between the perception target and the vehicle to be dispatched, and obtains a path interference result; when the path interference result is that there is no path interference between the perception target and the vehicle to be dispatched, the prediction classification result is that the perception target is the first perception target; when the path interference result is that there may be path interference between the perception target and the vehicle to be dispatched, the prediction classification result is The perception target is a second perception target; when the path interference result is that there is a path interference between the perception target and the vehicle to be dispatched, the predicted classification result is that the perception target is a third perception target; when the predicted classification result is that the perception target is the second perception target or the third perception target, the vehicle driving path is replanned according to the driving information and the perception target information to obtain a second vehicle driving path; whether the second vehicle driving path meets the preset vehicle operation requirements; when the second vehicle driving path meets the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the perception target information, the traffic priority of each section of the second vehicle driving path of the vehicle to be dispatched is calculated; based on the traffic priority of each section, the driving state of the vehicle to be dispatched is controlled.

[0112] The present application changes the preset driving path of the vehicle to be dispatched when confirming that there may be or is interference between the perceived target and the vehicle to be dispatched, and automatically plans the optimal route and vehicle driving parameters for the vehicle to be dispatched by confirming the compliance of the driving path of the second vehicle and combining the preset vehicle traffic algorithm. The vehicle automatically adjusts the dispatching strategy according to the perceived target information in the port area, which solves the problem that the current terminal dispatching system for autonomous driving vehicles is difficult to plan the optimal route and vehicle driving parameters, resulting in low port operations. It can further optimize the dispatching of port vehicles and improve the efficiency of port vehicle operations.

[0113] Based on the third embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the third embodiment can refer to the above introduction, and will not be repeated later. On this basis, the preset vehicle traffic algorithm includes several preset evaluation objects, please refer to Figure 4 The step 330 includes steps S3301 to S3305:

[0114] Step S3301, when the second vehicle driving path meets the preset vehicle operation requirements, a plurality of road sections to be passed are obtained in combination with the preset port map;

[0115] First, in order to obtain the priority of each section of the vehicle to be dispatched in the second vehicle's driving path, the port vehicle dispatching system needs to divide the second vehicle's driving path into a number of sections to be passed. In this embodiment, the port vehicle dispatching system combines the preset port map to obtain various intersections and intersection types in the second vehicle's driving path, and divides the second vehicle's driving path into a number of sections to be passed based on the obtained intersections as path breakpoints.

[0116] Step S3302, based on a preset vehicle traffic algorithm, obtaining relevant information of a preset evaluation object of the to-be-dispatched vehicle in the to-be-traveled road section from the driving information and the sensed target information according to a preset period, and obtaining vehicle traffic evaluation information;

[0117] Step S3303, determining the corresponding parameter weights and object weights of the preset evaluation objects of the to-be-dispatched vehicle in each pass section according to the preset vehicle pass algorithm and the vehicle pass evaluation information;

[0118] Step S3304, calculating the comprehensive weight of the to-be-dispatched vehicle on a plurality of to-be-traveled sections according to the parameter weight and the object weight;

[0119] In this embodiment, the preset vehicle passage algorithm is a priority weighted algorithm, and the optimal vehicle passage order in each to-be-passed path is evaluated by the priority weighted algorithm.

[0120] The preset period is the time period of the cyclic task of evaluating the traffic priority of the vehicles to be dispatched, which is set by relevant personnel based on the actual vehicle dispatching needs, to ensure the automatic real-time dispatch of the vehicles to be dispatched. In this embodiment, the preset period can be 5 seconds. The preset vehicle traffic algorithm includes several preset evaluation objects, including but not limited to vehicle speed, vehicle acceleration, the time required for the vehicle to arrive at the intersection, the degree of road congestion, the vehicle's task priority, the vehicle's task time window, etc.

[0121] First, based on the preset vehicle traffic algorithm, the relevant information of the preset evaluation object of the current vehicle to be dispatched in the road section to be passed is obtained from the driving information of the vehicle to be dispatched and the perceived target information on the driving path of the second vehicle without interruption at a preset period of 5 seconds, thereby obtaining the vehicle traffic evaluation information.

[0122] Then, based on the vehicle traffic evaluation information, combined with the preset vehicle traffic algorithm, the preset evaluation object of the dispatched vehicle in the to-be-traveled section is evaluated to confirm the parameter weight of the preset evaluation object. At the same time, based on the preset vehicle traffic algorithm, the object weight of the preset evaluation object is obtained.

[0123] For example, in this embodiment, the preset evaluation objects can be set to the time to pass the intersection, the number of vehicles between the vehicle and the intersection, the number of times of yielding, the instruction time, the vehicles in the queue behind, the road weight, the business priority, and the traffic rules, and the corresponding object weights are K1, K2, K3, K4, K5, K6, K7, and K8.

[0124] An example of the weight configuration of the preset evaluation object is:

[0125] 1. Time to pass the intersection (object weight = K1): shortest (parameter weight = x1), second shortest (parameter weight x2), third shortest (parameter weight = x3), fourth shortest (parameter weight = x4), the following vehicle (parameter weight = x5);

[0126] 2. Number of vehicles between the vehicle and the intersection (object weight = K2): no (parameter weight = x1), yes (parameter weight = x5);

[0127] 3. Number of yields (object weight = K3): greater than or equal to 3 times (parameter weight = x4), 2 times (parameter weight = x3), 1 time (parameter weight = x2), 0 times (parameter weight = x1);

[0128] 4. Command time (object weight = K4): more than 30 minutes (parameter weight = x4), 20 to 30 minutes (parameter weight = x3), 10 to 20 minutes (parameter weight = x2), 0 to 10 minutes (parameter weight = x1);

[0129] 5. Vehicles in the queue behind (object weight = K5): greater than 4 vehicles (parameter weight = x4), 4 vehicles (parameter weight = x3), 3 vehicles (parameter weight = x2), less than or equal to 2 vehicles (parameter weight = x1);

[0130] 6. Road weight (object weight = K6): smooth (parameter weight = x4), relatively congested (parameter weight = x3), congested (parameter weight = x2), very congested (parameter weight = x1);

[0131] 7. Business priority (object weight = K7): high priority jobs (parameter weight = x4), ordinary jobs (parameter weight = x1);

[0132] 8. Traffic rules (object weight = K8): straight (parameter weight = x3), small curve (parameter weight = x2), large curve (parameter weight = x1).

[0133] It should be noted that parameter weights x1 to x5 do not refer to specific values, but are only considered as numerical levels of parameters.

[0134] The preset vehicle traffic algorithm can obtain the parameter weight of the preset evaluation object of the vehicle to be dispatched through the weight configuration example of each preset evaluation object shown above, and integrate the vehicle traffic evaluation information of all vehicles in the road section to be passed, and then calculate the comprehensive weight of the vehicle to be dispatched in several sections to be passed by integrating the object weight and parameter weight of the preset evaluation object according to the following formula:

[0135] Where Ki is the object weight of the preset evaluation object, and Xi is the parameter weight of the preset evaluation object.

[0136] Step S3305: Based on the comprehensive weight, determine the priority of the vehicle to be dispatched on the road section to be passed.

[0137] Finally, the comprehensive weight obtained by evaluating the vehicles to be dispatched according to the preset vehicle traffic algorithm is combined with the information of all other vehicles to be dispatched in the port area to sort their comprehensive weights. The higher the comprehensive weight, the higher the traffic priority of the corresponding vehicle to be dispatched on the road section to be passed.

[0138] The present application uses a preset vehicle traffic algorithm to automatically evaluate the comprehensive weights of each road section of the vehicle to be dispatched on the second vehicle's driving route, thereby determining the traffic priority of each road section and realizing real-time automatic dispatch of autonomous driving vehicles in the port area. This solves the problem that the current terminal dispatch system for autonomous driving vehicles is difficult to plan the optimal route and vehicle driving parameters, resulting in low port operations. It can further optimize the dispatch of port vehicles and improve the efficiency of port vehicle operations.

[0139] Based on the third and / or fourth embodiments of the present application, in the fifth embodiment of the present application, the contents that are the same or similar to the above-mentioned third and fourth embodiments can be referred to the above introduction and will not be repeated later.

[0140] On this basis, please refer to Figure 5 , after the above step S330, comprising step S520:

[0141] Step S510, when the second vehicle driving path does not meet the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the sensed target information, the traffic priority of each road section of the to-be-dispatched vehicle in the first vehicle driving path is calculated;

[0142] Step S520: Control the driving state of the vehicle to be dispatched based on the traffic priority of each road section.

[0143] It is understandable that in order to ensure the efficient operation of the port vehicle dispatching system, it is necessary to ensure the completion rate of the associated tasks of each vehicle. When the modified vehicle driving path, that is, the second vehicle driving path, does not meet the preset vehicle operation requirements, it is necessary to control the vehicle to be dispatched to maintain the original vehicle driving path, that is, the first vehicle driving path.

[0144] Specifically, when the driving path of the second vehicle does not meet the preset vehicle operation requirements, the port vehicle dispatching system will obtain the vehicle position, speed, acceleration, driving direction and other information of the current vehicle based on the driving information of the vehicle to be dispatched, and obtain the perceived target information on the driving path of the first vehicle (such as the position, speed, driving intention, etc. of other vehicles or pedestrians), and determine the perceived target information with interference risk. Then, combined with the preset vehicle traffic algorithm, the traffic priority of each section of the driving path of the first vehicle is calculated. Finally, according to the traffic priority of each section, the throttle, brake and steering system of the vehicle to be dispatched are finely adjusted, the lane, vehicle speed, vehicle acceleration, etc. are changed, and the targets with interference or possible interference are avoided as much as possible, and the operating position is efficiently reached to complete the associated operation tasks of the vehicle to be dispatched.

[0145] The present embodiment provides a port vehicle dispatching method, which obtains the perception target information in the port area through the roadside perception unit; obtains the driving information of the vehicle to be dispatched; predicts the trajectory of the perception target according to the perception target position information and the perception target speed information to obtain the perception target predicted trajectory; based on the perception target predicted trajectory, the perception target contour information and the driving information, combined with a preset port map, confirms whether there is path interference between the perception target and the vehicle to be dispatched, and obtains a path interference result; when the path interference result is that there is no path interference between the perception target and the vehicle to be dispatched, the prediction classification result is that the perception target is the first perception target; when the path interference result is that there may be path interference between the perception target and the vehicle to be dispatched, the prediction classification result is that the perception target is the second perception target; when the path interference result is that there is path interference between the perception target and the vehicle to be dispatched, the prediction classification result is that the perception target is the second perception target; When the interference occurs, the predicted classification result is that the perception target is the third perception target; when the predicted classification result is that the perception target is the second perception target or the third perception target, the vehicle driving path is replanned according to the driving information and the perception target information to obtain the second vehicle driving path; whether the second vehicle driving path meets the preset vehicle operation requirements; when the second vehicle driving path meets the preset vehicle operation requirements, based on the preset vehicle traffic algorithm, according to the driving information and the perception target information, the traffic priority of each section of the vehicle to be dispatched in the second vehicle driving path is calculated; when the second vehicle driving path does not meet the preset vehicle operation requirements, based on the preset vehicle traffic algorithm, according to the driving information and the perception target information, the traffic priority of each section of the vehicle to be dispatched in the first vehicle driving path is calculated; based on the traffic priority of each section, the driving state of the vehicle to be dispatched is controlled.

[0146] The present application ensures the operation completion rate of the vehicle to be dispatched by not changing the vehicle driving path of the vehicle to be dispatched when the second vehicle driving path does not meet the preset vehicle operation requirements. At the same time, the driving status of the vehicle to be dispatched is automatically adjusted in combination with the preset vehicle passage algorithm, so as to optimize the vehicle driving parameters and improve the efficiency of port vehicle operations.

[0147] This application also provides a port vehicle dispatching device, please refer to Figure 6 The port vehicle dispatching device is applied to a port vehicle dispatching system, the port vehicle dispatching system includes a roadside sensing unit, and the port vehicle dispatching device includes:

[0148] A perception target acquisition module 10, used to acquire perception target information in the port area through the roadside perception unit;

[0149] The vehicle information acquisition module 20 is used to acquire the driving information of the vehicle to be dispatched;

[0150] A prediction and classification module 30, configured to predict and classify the perceived target based on the perceived target information and the driving information, and obtain a prediction and classification result;

[0151] The vehicle dispatching module 40 is used to dispatch the vehicles to be dispatched based on a preset vehicle traffic algorithm and according to the predicted classification results.

[0152] The port vehicle dispatching device provided by the present application adopts the port vehicle dispatching method in the above embodiment, which can solve the technical problems that the current terminal dispatching system for autonomous driving vehicles is difficult to plan the optimal route and the vehicle driving parameters cause low port operations. Compared with the prior art, the beneficial effects of the port vehicle dispatching device provided by the present application are the same as the beneficial effects of the port vehicle dispatching method provided by the above embodiment, and the other technical features in the port vehicle dispatching device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0153] The present application provides a port vehicle scheduling device, which includes: at least one processor; and a memory connected to the at least one processor for port vehicle scheduling; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the port vehicle scheduling method in the above-mentioned embodiment one.

[0154] Reference below Figure 7 , which shows a schematic diagram of the structure of a port vehicle dispatching device suitable for implementing the embodiment of the present application. The port vehicle dispatching device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The port vehicle dispatching equipment shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0155] like Figure 7As shown, the port vehicle dispatching device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the port vehicle dispatching device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a port vehicle dispatching device 1009. The port vehicle dispatching device 1009 can allow the port vehicle dispatching device to perform wireless or wired port vehicle dispatching with other devices to exchange data. Although the figure shows the port vehicle dispatching device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0156] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the port vehicle dispatching device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the method of the embodiment disclosed in the present application are executed.

[0157] The port vehicle dispatching device provided by the present application adopts the port vehicle dispatching method in the above embodiment, which can solve the technical problems that the current terminal dispatching system for autonomous driving vehicles is difficult to plan the optimal route and the vehicle driving parameters cause low port operations. Compared with the prior art, the beneficial effects of the port vehicle dispatching device provided by the present application are the same as the beneficial effects of the port vehicle dispatching method provided by the above embodiment, and the other technical features in the port vehicle dispatching device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0158] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0159] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0160] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the port vehicle scheduling method in the above-mentioned embodiment.

[0161] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0162] The computer-readable storage medium may be included in the port vehicle dispatching device; or may exist independently without being assembled into the port vehicle dispatching device.

[0163] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the port vehicle dispatching equipment, the port vehicle dispatching equipment: obtains the perception target information in the port area through the roadside perception unit; obtains the driving information of the vehicle to be dispatched; based on the perception target information and the driving information, predicts and classifies the perception target to obtain the prediction classification result; based on the preset vehicle traffic algorithm, according to the prediction classification result, the vehicle to be dispatched is dispatched.

[0164] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0165] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0166] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0167] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned port vehicle scheduling method, and can solve the technical problems that the current terminal scheduling system for autonomous driving vehicles is difficult to plan the optimal route and the vehicle driving parameters cause low port operations. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the port vehicle scheduling method provided by the above-mentioned embodiment, which will not be repeated here.

[0168] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A port vehicle dispatching method, characterized in that: The method is applied to a port vehicle dispatching system, the port vehicle dispatching system includes a roadside sensing unit, and the method includes: Acquiring sensing target information in the port area through the roadside sensing unit; Obtain the driving information of the vehicle to be dispatched; Based on the perceived target information and the driving information, predict and classify the perceived target to obtain a prediction and classification result; Based on a preset vehicle traffic algorithm and according to the predicted classification result, the vehicles to be dispatched are dispatched.

2. The method according to claim 1, characterized in that The sensed target information includes sensed target contour information, sensed target position information and sensed target speed information. The step of predicting and classifying the sensed target based on the sensed target information and the driving information to obtain a prediction and classification result includes: Predicting the trajectory of the perceived target according to the perceived target position information and the perceived target speed information to obtain a perceived target predicted trajectory; Based on the predicted trajectory of the perceived target, the contour information of the perceived target and the driving information, combined with a preset port map, confirm whether there is path interference between the perceived target and the vehicle to be dispatched, and obtain a path interference result; According to the path interference result, the sensed target is classified to obtain a predicted classification result.

3. The method according to claim 2, characterized in that The sensed targets include a first sensed target, a second sensed target, and a third sensed target. The step of classifying the sensed targets according to the path interference result to obtain a predicted classification result includes: When the path interference result is that there is no path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is the first perceived target; When the path interference result is that there may be path interference between the perceived target and the to-be-dispatched vehicle, the prediction classification result is that the perceived target is a second perceived target; When the path interference result is that there is path interference between the perceived target and the vehicle to be dispatched, the prediction classification result is that the perceived target is a third perceived target.

4. The method according to claim 3, characterized in that The driving information includes a first vehicle driving path. Before the step of dispatching the to-be-dispatched vehicle based on a preset vehicle traffic algorithm and according to the predicted classification result, the step further includes: When the predicted classification result is that the perception target is the first perception target, based on the preset maximum travel speed, the vehicle to be dispatched is dispatched to travel normally along the first vehicle travel path.

5. The method according to claim 3, characterized in that The step of dispatching the vehicles to be dispatched based on the preset vehicle traffic algorithm and according to the predicted classification result includes: When the predicted classification result is that the perception target is the second perception target or the third perception target, replanning the vehicle driving path according to the driving information and the perception target information to obtain a second vehicle driving path; Determining whether the second vehicle driving path meets the preset vehicle operation requirements; When the second vehicle driving path meets the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the sensed target information, the traffic priority of each road section of the vehicle to be dispatched in the second vehicle driving path is calculated; Based on the traffic priority of each road section, the driving state of the vehicle to be dispatched is controlled.

6. The method according to claim 5, characterized in that The preset vehicle traffic algorithm includes a plurality of preset evaluation objects. When the second vehicle driving path meets the preset vehicle operation requirements, the step of calculating the traffic priority of each road section of the to-be-dispatched vehicle in the second vehicle driving path based on the preset vehicle traffic algorithm and according to the driving information and the sensed target information includes: When the second vehicle driving path meets the preset vehicle operation requirements, a plurality of road sections to be passed are obtained in combination with the preset port map; Based on a preset vehicle traffic algorithm, obtaining relevant information of a preset evaluation object of the to-be-dispatched vehicle in the to-be-traveled road section from the driving information and the sensed target information according to a preset period, and obtaining vehicle traffic evaluation information; Determine the corresponding parameter weights and object weights of the preset evaluation objects of the to-be-dispatched vehicle in each pass section according to the preset vehicle pass algorithm and the vehicle pass evaluation information; Calculating the comprehensive weight of the vehicle to be dispatched on several sections to be passed according to the parameter weight and the object weight; Based on the comprehensive weight, the passing priority of the vehicle to be dispatched on the road section to be passed is determined.

7. The method according to claim 5, characterized in that After the step of dispatching the vehicle to be dispatched based on a preset vehicle traffic algorithm and the second vehicle driving path when the second vehicle driving path meets the preset vehicle operation requirements, the method further includes: When the driving path of the second vehicle does not meet the preset vehicle operation requirements, based on a preset vehicle traffic algorithm, according to the driving information and the sensed target information, the traffic priority of each road section of the to-be-dispatched vehicle in the driving path of the first vehicle is calculated; Based on the traffic priority of each road section, the driving state of the vehicle to be dispatched is controlled.

8. A port vehicle dispatching device, characterized in that: The port vehicle dispatching device is applied to a port vehicle dispatching system, the port vehicle dispatching system includes a roadside sensing unit, and the port vehicle dispatching device includes: A perception target acquisition module, used to acquire perception target information in the port area through the roadside perception unit; The vehicle information acquisition module is used to obtain the driving information of the vehicle to be dispatched; A prediction and classification module, used to predict and classify the perceived target based on the perceived target information and the driving information to obtain a prediction and classification result; The vehicle dispatching module is used to dispatch the vehicles to be dispatched based on a preset vehicle traffic algorithm and according to the predicted classification results.

9. A port vehicle dispatching device, characterized in that: The port vehicle dispatching device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the port vehicle dispatching method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is 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 port vehicle scheduling method according to any one of claims 1 to 7 are implemented.

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