Horizontal transportation equipment scheduling method and equipment based on global path planning

Abstract

The embodiment of the invention provides a horizontal transportation equipment scheduling method and equipment based on global path planning, and relates to the technical field of horizontal transportation. The method comprises the following steps: in response to a path planning request, determining a state information graph of a target position area in the path planning request; wherein the state information graph comprises the maximum parking number of the destination of each piece of horizontal transportation equipment; determining a priority value of the horizontal transportation equipment according to the maximum parking number of the destination of the horizontal transportation equipment; performing global path planning processing on the horizontal transportation equipment according to the priority value of each horizontal transportation equipment to obtain a path planning result of the horizontal transportation equipment; and according to the path planning result of each piece of horizontal transportation equipment, scheduling each piece of horizontal transportation equipment. According to the method, the horizontal transportation operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of horizontal transportation technology, and in particular to a method and device for scheduling horizontal transportation equipment based on global path planning. Background Art

[0002] The horizontal transportation operation of the terminal refers to the process of horizontal transportation equipment transporting goods and containers between the berth and the container area. In the scenario of automated terminal operation, it is necessary to dispatch and process horizontal transportation equipment such as unmanned container trucks.

[0003] In the prior art, based on a static path planning algorithm, the shortest path for each horizontal transport device from a starting point to a destination is calculated.

[0004] However, in the above method, based on the static path planning algorithm, path planning is only performed for a single horizontal transport device, which causes congestion of multiple horizontal transport devices in interactive areas such as intersections, thereby reducing the efficiency of horizontal transport operations. Summary of the invention

[0005] The embodiments of the present application provide a method and device for scheduling horizontal transportation equipment based on global path planning, which is used to solve the technical problem that the static path planning algorithm only performs path planning for a single horizontal transportation equipment, resulting in congestion of multiple horizontal transportation equipment in interactive areas such as intersections, thereby reducing the efficiency of horizontal transportation operations.

[0006] In a first aspect, an embodiment of the present application provides a method for scheduling horizontal transportation equipment based on global path planning, comprising: in response to a path planning request, determining a status information graph of a target location area in the path planning request; wherein the path planning request represents a request for path planning for horizontal transportation equipment in the target location area; the status information graph includes a maximum number of parking spaces at the destination of each of the horizontal transportation equipment; according to the maximum number of parking spaces at the destination of the horizontal transportation equipment, determining a priority value of the horizontal transportation equipment; according to the priority value of each of the horizontal transportation equipment, performing global path planning processing on the horizontal transportation equipment to obtain a path planning result for the horizontal transportation equipment; and according to the path planning result of each of the horizontal transportation equipment, performing scheduling processing on each of the horizontal transportation equipment.

[0007] In a possible implementation, the priority value of the horizontal transportation equipment is determined according to the maximum number of parking spaces at the destination of the horizontal transportation equipment, including: generating a global topology map of the target location area according to the destination of each of the horizontal transportation equipment and the map information of the target location area; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; according to the global topology map, grouping and sorting each of the horizontal transportation equipment to obtain at least one equipment set; wherein the destinations of each of the horizontal transportation equipment in the equipment set are the same; each of the horizontal transportation equipment in the equipment set has an arrangement number; and determining the priority value of the horizontal transportation equipment according to the maximum number of parking spaces at the destination of the horizontal transportation equipment and the arrangement number.

[0008] In a possible implementation, each of the horizontal transport equipment is grouped and sorted according to the global topology map to obtain at least one equipment set, including: searching the global topology map to determine static path information of the horizontal transport equipment; wherein the static path information includes arrival time, and the arrival time is the time required for the current horizontal transport equipment to reach the corresponding destination; grouping each of the horizontal transport equipment to obtain at least one initial equipment set; wherein the destinations of each horizontal transport equipment in the initial equipment set are the same; and sorting each of the horizontal transport equipment in the initial equipment set from small to large according to the arrival time to obtain the equipment set.

[0009] In a possible implementation, the priority value of the horizontal transportation equipment is determined based on the maximum parking quantity and arrangement number of the destination of the horizontal transportation equipment, including: if it is determined that the arrangement number of the horizontal transportation equipment is less than the maximum parking quantity of the destination of the horizontal transportation equipment, then the priority value of the horizontal transportation equipment is determined based on the arrangement number; if it is determined that the arrangement number of the horizontal transportation equipment is greater than the maximum parking quantity of the destination of the horizontal transportation equipment, then the priority value of the horizontal transportation equipment is determined based on the entry time, operation time and maximum parking quantity of the destination of the horizontal transportation equipment; wherein the entry time is the shortest time allowed for the destination to enter the horizontal transportation equipment; and the operation time is the average operation time of the horizontal transportation equipment in the destination.

[0010] In a possible embodiment, the method also includes: if it is determined that the position of the horizontal transportation equipment is within a preset area of ​​the location of the destination of the horizontal transportation equipment, then determining the priority value of the horizontal transportation equipment based on the distance between the horizontal transportation equipment and the entrance of the destination of the horizontal transportation equipment.

[0011] In a possible implementation, global path planning is performed on the horizontal transport equipment according to the priority value of each horizontal transport equipment to obtain the path planning result of the horizontal transport equipment, including: determining a pruning topology map of each horizontal transport equipment according to the destination of each horizontal transport equipment and the map information of the target location area in the path planning request; wherein the pruning topology map represents the lane change relationship between each lane through which the horizontal transport equipment can pass; according to the pruning topology map of each horizontal transport equipment, path planning is performed on the horizontal transport equipment in order from small to large according to the priority value to obtain the path planning result of the horizontal transport equipment.

[0012] In a possible implementation, a pruned topology map of each horizontal transport equipment is determined based on the destination of each horizontal transport equipment in the path planning request and the map information of the target location area, including: constructing a global topology map based on the destination of each horizontal transport equipment in the path planning request and the map information of the target location area; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; searching and processing the global topology map to determine the static path information of the horizontal transport equipment; wherein the static path information represents the fastest path and driving distance for the current horizontal transport equipment to reach the corresponding destination; and generating a pruned topology map of the horizontal transport equipment based on the static path information and the global topology map.

[0013] In a possible implementation, according to the pruning topology map of each of the horizontal transport equipments, path planning processing is performed on the horizontal transport equipments in order from small to large according to the priority values ​​to obtain the path planning results of the horizontal transport equipments, including: for the i-th horizontal transport equipment, determining other horizontal transport equipments with priority values ​​lower than the i-th horizontal transport equipment as the target horizontal transport equipments corresponding to the i-th horizontal transport equipment; and updating the pruning topology map of the horizontal transport equipment according to the path planning results of each of the target horizontal transport equipments; determining the search queue of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment; wherein the search queue includes the starting lane of the i-th horizontal transport equipment; determining the minimum lane of the i-th horizontal transport equipment from the search queue; wherein the minimum lane represents the lane with the shortest travel time between the starting lane and the search state is the unsearched state; and determining the search state of the minimum lane to be the searched state; if it is determined that the minimum lane is the terminal lane of the i-th horizontal transport equipment, then generating the path planning result of the i-th horizontal transport equipment according to the updated pruning topology map and the minimum lane.

[0014] In a possible implementation, the pruned topology map of the horizontal transport equipment is updated according to the path planning results of each of the target horizontal transport equipment, including: determining the spatiotemporal trajectory information corresponding to each of the target horizontal transport equipment according to the path planning results of each of the target horizontal transport equipment; wherein the spatiotemporal trajectory information represents the spatiotemporal trajectory of each target horizontal transport equipment traveling on each lane in the target location area; determining the intersection priority corresponding to the target horizontal transport equipment according to the intersection start time, destination operation time and priority value of the target horizontal transport equipment; wherein the intersection start time is the start time of the target horizontal transport equipment traveling on each lane of the intersection in the target location area; the intersection priority represents the priority of the target horizontal transport equipment to pass through each lane of the intersection; determining the intersection constraint information corresponding to each of the target horizontal transport equipment according to the intersection priority and spatiotemporal trajectory information corresponding to each of the target horizontal transport equipment; wherein the intersection constraint information represents the time for restricting the i-th horizontal transport equipment from entering each lane of the intersection; updating the pruned topology map of the i-th horizontal transport equipment according to the spatiotemporal trajectory information and intersection constraint information corresponding to each of the target horizontal transport equipment.

[0015] In a possible implementation, the method further includes: if it is determined that the minimum lane is not the terminal lane of the i-th horizontal transport equipment, then according to the updated pruning topology map of the i-th horizontal transport equipment, all adjacent lanes that are adjacent to the minimum lane and can change lanes are determined; the neighbor travel time and position of the adjacent lane are determined; and according to the adjacent travel time and position of the adjacent lane, the adjacent space-time trajectory of the i-th horizontal transport equipment corresponding to the adjacent lane is determined; wherein the adjacent travel time is the travel time required for the horizontal transport equipment to travel from the minimum lane to the adjacent lane; the adjacent space-time trajectory represents the space-time trajectory generated by the horizontal transport equipment traveling on the minimum lane; if it is determined that the adjacent space-time trajectory has no intersection with the target space-time trajectory in the updated pruning topology map, then according to the adjacent space-time trajectory, the target space-time trajectory is updated; wherein the target space-time trajectory is the space-time trajectory of each target horizontal transport equipment on the minimum lane; the adjacent lane is added to the search queue; and the step of determining the minimum lane of the i-th horizontal transport equipment from the search queue is re-executed.

[0016] In a possible implementation, the method further includes: if it is determined that the minimum lane of the i-th horizontal transport equipment cannot be determined in the search queue, then determining the slow path information of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment, and determining the slow path information as the path planning result of the i-th horizontal transport equipment; wherein the slow path information includes the path information of the horizontal transport equipment traveling on the slow lane.

[0017] In a possible implementation, each of the horizontal transport equipment is scheduled based on the path planning results of each of the horizontal transport equipment, including: scheduling the horizontal transport equipment based on each lane in the path planning results and the driving speed of each lane.

[0018] In the second aspect, an embodiment of the present application provides a horizontal transportation equipment scheduling device based on global path planning, including: a first determination module, used to determine a state information map of a target location area in the path planning request in response to the path planning request; wherein the path planning request represents a request for path planning for the horizontal transportation equipment in the target location area; the state information map includes the maximum number of parking spaces at the destination of each of the horizontal transportation equipment; a second determination module, used to determine the priority value of the horizontal transportation equipment according to the maximum number of parking spaces at the destination of the horizontal transportation equipment; a processing module, used to perform global path planning processing on the horizontal transportation equipment according to the priority value of each of the horizontal transportation equipment, and obtain the path planning result of the horizontal transportation equipment; a scheduling module, used to schedule each of the horizontal transportation equipment according to the path planning result of each of the horizontal transportation equipment.

[0019] In a possible implementation, the second determination module is specifically used to: generate a global topology map of the target location area based on the destination of each of the horizontal transportation equipment and the map information of the target location area; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; according to the global topology map, group and sort each of the horizontal transportation equipment to obtain at least one equipment set; wherein the destinations of each of the horizontal transportation equipment in the equipment set are the same; each of the horizontal transportation equipment in the equipment set has an arrangement number; and determine the priority value of the horizontal transportation equipment based on the maximum parking quantity and the arrangement number at the destination of the horizontal transportation equipment.

[0020] In a possible implementation, the second determination module is specifically used to: search and process the global topology map to determine the static path information of the horizontal transport equipment; wherein the static path information includes an arrival time, and the arrival time is the time required for the current horizontal transport equipment to reach the corresponding destination; group the horizontal transport equipment to obtain at least one initial equipment set; wherein the destinations of the horizontal transport equipment in the initial equipment set are the same; and sort the horizontal transport equipment in the initial equipment set from small to large according to the arrival time to obtain the equipment set.

[0021] In a possible implementation, the second determination module is further specifically used to: if it is determined that the arrangement number of the horizontal transportation equipment is less than the maximum number of parking spaces at the destination of the horizontal transportation equipment, then determine the priority value of the horizontal transportation equipment according to the arrangement number; if it is determined that the arrangement number of the horizontal transportation equipment is greater than the maximum number of parking spaces at the destination of the horizontal transportation equipment, then determine the priority value of the horizontal transportation equipment according to the entry time, operation time and maximum number of parking spaces at the destination of the horizontal transportation equipment; wherein the entry time is the shortest time allowed for entry into the horizontal transportation equipment at the destination; and the operation time is the average operation time of the horizontal transportation equipment at the destination.

[0022] In a possible implementation, the second determination module is further specifically used to: if it is determined that the position of the horizontal transport equipment is within a preset area of ​​the location of the destination of the horizontal transport equipment, then determine the priority value of the horizontal transport equipment based on the distance between the horizontal transport equipment and the entrance of the destination of the horizontal transport equipment.

[0023] In a possible implementation, the processing module is specifically used to: determine a pruning topology map of each horizontal transport equipment based on the destination of each horizontal transport equipment in the path planning request and the map information of the target location area; wherein the pruning topology map represents the lane change relationship between each lane through which the horizontal transport equipment can pass; and according to the pruning topology map of each horizontal transport equipment, perform path planning processing on the horizontal transport equipment in order from small to large according to the priority value to obtain the path planning result of the horizontal transport equipment.

[0024] In a possible implementation, the processing module is specifically used to: construct a global topology map based on the destination of each horizontal transport equipment in the path planning request and the map information of the target location area; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; search and process the global topology map to determine the static path information of the horizontal transport equipment; wherein the static path information represents the fastest path and driving distance for the current horizontal transport equipment to reach the corresponding destination; and generate a pruned topology map of the horizontal transport equipment based on the static path information and the global topology map.

[0025] In a possible implementation, the processing module is further specifically used to: for the i-th horizontal transport equipment, determine other horizontal transport equipment with lower priority values ​​than the i-th horizontal transport equipment as the target horizontal transport equipment corresponding to the i-th horizontal transport equipment; and update the pruning topology map of the horizontal transport equipment according to the path planning results of each of the target horizontal transport equipment; determine the search queue of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment; wherein the search queue includes the starting lane of the i-th horizontal transport equipment; determine the minimum lane of the i-th horizontal transport equipment from the search queue; wherein the minimum lane represents the lane with the shortest driving time between the starting lane and the search status is the unsearched state; and determine the search status of the minimum lane to be the searched state; if it is determined that the minimum lane is the terminal lane of the i-th horizontal transport equipment, then generate the path planning result of the i-th horizontal transport equipment according to the updated pruning topology map and the minimum lane.

[0026] In a possible implementation, the processing module is further specifically used to: determine the spatiotemporal trajectory information corresponding to each of the target horizontal transport equipment according to the path planning results of each of the target horizontal transport equipment; wherein the spatiotemporal trajectory information represents the spatiotemporal trajectory of each of the target horizontal transport equipment traveling on each lane in the target location area; determine the intersection priority corresponding to the target horizontal transport equipment according to the intersection start time, destination operation time and priority value of the target horizontal transport equipment; wherein the intersection start time is the start time of the target horizontal transport equipment traveling on each lane of the intersection in the target location area; the intersection priority represents the priority of the target horizontal transport equipment to pass through each lane of the intersection; determine the intersection constraint information corresponding to each of the target horizontal transport equipment according to the intersection priority and spatiotemporal trajectory information corresponding to each of the target horizontal transport equipment; wherein the intersection constraint information represents the time to restrict the i-th horizontal transport equipment from entering each lane of the intersection; and update the pruned topology map of the i-th horizontal transport equipment according to the spatiotemporal trajectory information and intersection constraint information corresponding to each of the target horizontal transport equipment.

[0027] In a possible implementation, the processing module is further specifically used for: if it is determined that the minimum lane is not the terminal lane of the i-th horizontal transport equipment, then according to the updated pruning topology map of the i-th horizontal transport equipment, determining all adjacent lanes that are adjacent to the minimum lane and can change lanes; determining the neighbor driving time and position of the adjacent lane; and determining the adjacent space-time trajectory of the i-th horizontal transport equipment corresponding to the adjacent lane according to the adjacent driving time and position of the adjacent lane; wherein the adjacent driving time is the driving time required for the horizontal transport equipment to travel from the minimum lane to the adjacent lane; the adjacent space-time trajectory represents the space-time trajectory generated by the horizontal transport equipment traveling on the minimum lane; if it is determined that the adjacent space-time trajectory has no intersection with the target space-time trajectory in the updated pruning topology map, then updating the target space-time trajectory according to the adjacent space-time trajectory; wherein the target space-time trajectory is the space-time trajectory of each target horizontal transport equipment on the minimum lane; adding the adjacent lane to the search queue; and re-executing the step of determining the minimum lane of the i-th horizontal transport equipment from the search queue.

[0028] In one possible implementation, the processing module is specifically used to: if it is determined that the minimum lane of the i-th horizontal transport equipment cannot be determined in the search queue, then determine the slow path information of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment, and determine the slow path information as the path planning result of the i-th horizontal transport equipment; wherein the slow path information includes the path information of the horizontal transport equipment traveling on the slow lane.

[0029] In a possible implementation, the scheduling module is specifically used to schedule the horizontal transportation equipment according to each lane and the driving speed of each lane in the path planning result.

[0030] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0031] The memory stores computer-executable instructions;

[0032] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0035] The horizontal transportation equipment scheduling method and equipment based on global path planning provided in the embodiments of the present application determine the priority value of each horizontal transportation equipment through the maximum number of parking lots at the destinations of multiple horizontal transportation equipment in the target location area in the path planning request, and perform global path planning processing on each horizontal transportation equipment in order of priority values ​​to obtain the path planning result of each horizontal transportation equipment for scheduling the horizontal transportation equipment; further, multi-vehicle global path planning is performed based on the priority value of each horizontal transportation equipment to achieve the optimal solution for the path planning of multiple horizontal transportation equipment, so as to improve the horizontal transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 A schematic diagram of an application scenario provided for this application;

[0038] Figure 2 A flowchart of a method for scheduling horizontal transportation equipment based on global path planning provided in an embodiment of the present application;

[0039] Figure 3 A flowchart of another method for scheduling horizontal transportation equipment based on global path planning provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of a conversion process based on converting a road network into a topology map provided in an embodiment of the present application;

[0041] Figure 5 A flowchart of another method for scheduling horizontal transportation equipment based on global path planning provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of a global path planning process provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a dynamic path search process provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the structure of a horizontal transportation equipment scheduling device based on global path planning provided in an embodiment of the present application;

[0045] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0046] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application.

[0048] First, the terms involved in this application are explained:

[0049] Horizontal transport equipment: generally refers to mechanical equipment used to move goods or materials on a horizontal surface.

[0050] Figure 1 A schematic diagram of an application scenario provided by this application. Figure 1 As shown, the specific application scenario of the present application includes a cloud scheduling system 101, multiple horizontal transportation equipment 102 and an electronic device 103. The cloud scheduling system 101 sends a path planning request of all horizontal transportation equipment 102 to the electronic device 103 to perform path planning processing on all horizontal transportation equipment 102, and returns the path planning result of each horizontal transportation equipment 102 to the cloud scheduling system 101 and then sends it to each horizontal transportation equipment 102 for execution.

[0051] In one example, the electronic device 103 calculates the shortest path from the starting point to the end point of each horizontal transportation device 102 based on a static path planning algorithm, and returns it to the cloud scheduling system 101 to schedule multiple horizontal transportation devices 102.

[0052] However, in the above method, in a multi-vehicle operation scenario, based on the static path planning algorithm, path planning is only performed for a single horizontal transport equipment, resulting in congestion of multiple horizontal transport equipment in interactive areas such as intersections, increasing the transport operation time, and thereby reducing the efficiency of horizontal transport operations.

[0053] In response to the above technical problems, the present application proposes the following technical concept: after receiving a path planning request, the priority value of each horizontal transport equipment is determined by the maximum number of parking lots at the destination of multiple horizontal transport equipment in the target location area in the path planning request, and global path planning is performed on each horizontal transport equipment in order of priority values, and the horizontal transport equipment is dispatched based on the path planning results of each horizontal transport equipment. In this way, the problem of reduced efficiency of horizontal transport operations based on static path planning algorithms in multi-vehicle operation scenarios in the prior art can be solved.

[0054] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0055] Figure 2 A flowchart of a method for scheduling horizontal transportation equipment based on global path planning is provided in an embodiment of the present application, such as Figure 2 As shown, the method includes:

[0056] 201. In response to a path planning request, determine a state information map of a target location area in the path planning request; wherein the path planning request represents a request to perform path planning for horizontal transportation equipment in the target location area; and the state information map includes a maximum number of stops at a destination of each horizontal transportation equipment.

[0057] Exemplarily, the execution subject of this embodiment may be an electronic device, hereinafter referred to as the device. The device may be a virtual device or a physical device for executing a horizontal transportation equipment scheduling method based on global path planning. The device receives a path planning request to request path planning for the horizontal transportation equipment in the target location area. The device may obtain map information of the target location area according to the path planning request, including the location and status of the destination of each horizontal transportation equipment such as a bridge crane or a gantry crane, and road closure information of the target location area, and obtain the operation information and status information of each horizontal transportation equipment, and then construct a status information map of the target location area, which includes all destinations and their maximum parking quantities. The maximum parking quantity indicates the maximum number of parking spaces allowed for horizontal transportation equipment at the destination.

[0058] For example, in the scenario of automated terminal operation, the cloud dispatching system of the terminal needs to collect information such as the location, destination, and passable area of ​​all unmanned container trucks in the terminal, as well as the location, status, and road closure information of the destination such as bridge cranes or gantry cranes, and generate a path planning request and send it to the device. Based on the algorithm module of the device, according to the information in the path planning request sent by the cloud dispatching system, a state information graph corresponding to each destination in the terminal is constructed. The state information graph refers to the collection of all destinations and their state information in the current map, where the destination refers to the possible destination of all unmanned container trucks at the current moment, and its state information includes the location, the length of the operating lane, and the maximum number of parking spaces; the location p (x, y), expressed in UTM coordinates, indicates the location of the destination on the map, the length of the operating lane lw, in meters (m), indicates the length of the lane where unmanned container trucks can park and wait at the destination, and the maximum number of parking spaces indicates the maximum number of unmanned container trucks allowed to park at the destination cw.

[0059] 202. Determine the priority value of the horizontal transportation equipment according to the maximum number of parking spaces at the destination of the horizontal transportation equipment.

[0060] Exemplarily, the device analyzes and processes the maximum number of parking lots at the destination of each horizontal transportation equipment based on preset rules to determine the priority value of the horizontal transportation equipment, wherein the smaller the priority value R is, the higher the priority for subsequent serial dynamic path planning; for example, the maximum number of parking lots at the destination of horizontal transportation equipment A affects the current and periodic parking congestion at the destination of the horizontal transportation equipment A. According to the parking congestion at the destination of the horizontal transportation equipment A, the priority value of the horizontal transportation equipment A can be determined, and then the priority of the serial dynamic path planning of the horizontal transportation equipment A can be determined.

[0061] 203. According to the priority value of each horizontal transport equipment, global path planning processing is performed on the horizontal transport equipment to obtain the path planning result of the horizontal transport equipment.

[0062] Exemplarily, the device sorts all horizontal transport equipment according to the priority value of each horizontal transport equipment in ascending order, that is, based on the preset serial dynamic path planning algorithm, global path planning is performed on each horizontal transport equipment in turn in the order of arrangement to obtain the path planning result of the horizontal transport equipment, including information such as the lanes required for the horizontal transport equipment to pass, and then obtain the globally optimal multi-vehicle path planning result corresponding to multiple horizontal transport equipment.

[0063] 204. According to the path planning results of each horizontal transportation equipment, each horizontal transportation equipment is dispatched.

[0064] Exemplarily, the device can directly schedule all horizontal transportation equipment according to the path planning results of all horizontal transportation equipment; or, the device can send the path planning results of all horizontal transportation equipment back to the cloud-based scheduling system, and the cloud-based scheduling system will distribute the path planning results of each horizontal transportation equipment to each horizontal transportation equipment for separate execution to complete the scheduling task.

[0065] In the present embodiment, a horizontal transportation equipment scheduling method based on global path planning is provided, in which the priority value of each horizontal transportation equipment is determined by the maximum number of parking lots at the destinations of multiple horizontal transportation equipment in the target location area in the path planning request, and global path planning is performed on each horizontal transportation equipment in order of priority values ​​to obtain the path planning result of each horizontal transportation equipment for scheduling the horizontal transportation equipment; further, multi-vehicle global path planning is performed based on the priority value of each horizontal transportation equipment, so as to achieve the optimal solution for the path planning of multiple horizontal transportation equipment and improve the horizontal transportation efficiency.

[0066] Figure 3 A flow chart of another method for scheduling horizontal transportation equipment based on global path planning provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the method includes:

[0067] 301. In response to a path planning request, determine a state information map of a target location area in the path planning request; wherein the path planning request represents a request to perform path planning for horizontal transportation equipment in the target location area; and the state information map includes a maximum number of stops at a destination of each horizontal transportation equipment.

[0068] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0069] 302. Generate a global topological map of the target location area according to the destination of each horizontal transportation device and the map information of the target location area; wherein the global topological map represents the positional proximity relationship between each lane in the target location area.

[0070] Exemplarily, the device receives a path planning request to request path planning for horizontal transportation equipment in a target location area. The device can obtain map information of the target location area according to the path planning request, including the location and status of the destination of each horizontal transportation equipment such as a bridge crane or a gantry crane, and road closure information of the target location area, and obtain the operation information and status information of each horizontal transportation equipment, and then construct a global topological map of the target location area, which represents the positional proximity relationship between each lane in the target location area; for example, Figure 4A schematic diagram of a conversion process based on converting a road network into a topology map provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, similar to other autonomous driving scenarios, the basic unit of the map is the lane. The lane data includes its left boundary, right boundary, and the relationship between the front and rear lanes and adjacent lanes. When planning the path, all lanes in the road network of the target location area are used as nodes to initialize the map information, and the lane relationship of all lanes is converted to generate a global topological map of the target location area.

[0071] 303. According to the global topology map, each horizontal transport device is grouped and sorted to obtain at least one device set; wherein the destination of each horizontal transport device in the device set is the same; and each horizontal transport device in the device set has an arrangement sequence number.

[0072] Exemplarily, the device searches and processes the global topology map and groups them according to the destination, that is, the horizontal transport equipment with the same destination among the horizontal transport equipment are grouped into a set, and based on preset sorting rules such as the priority of the transport task of the horizontal transport equipment, the horizontal transport equipment in the set corresponding to each destination is sorted to obtain the equipment set corresponding to each destination, and each horizontal transport equipment in each equipment set has an arrangement number in the equipment set.

[0073] In one example, step 303 includes the following steps:

[0074] The first step of step 303 is to search and process the global topology map to determine the static path information of the horizontal transportation equipment; wherein the static path information includes the arrival time, and the arrival time is the time required for the current horizontal transportation equipment to reach the corresponding destination.

[0075] The second step of step 303 is to group the horizontal transport equipment to obtain at least one initial equipment set; wherein the destinations of the horizontal transport equipment in the initial equipment set are the same.

[0076] The third step of step 303 is to sort the horizontal transport equipment in the initial equipment set from small to large according to the arrival time to obtain an equipment set.

[0077] Exemplarily, after successfully generating a global topology map, the device searches the global topology map based on a static breadth-first search method to perform parallel static path planning on each horizontal transport device to obtain a static path planning result for each horizontal transport device, i.e., static path information. The static path information includes an arrival time, which is the time required for the current horizontal transport device to reach the corresponding destination, and also includes a collection of routes {lane0, lane1, ..., lanen} for each horizontal transport device to reach the destination the fastest, the distance traveled on each lane, etc.; then, the path planning requests are grouped according to the destination, that is, the horizontal transport devices with the same destination among the horizontal transport devices are grouped into an initial device set; based on the order of the arrival time of each horizontal transport device from small to large, the horizontal transport devices in the set corresponding to each destination are sorted to obtain a device set corresponding to each destination, and each horizontal transport device in each device set has an arrangement number in the device set.

[0078] 304. Determine the priority value of the horizontal transportation equipment according to the maximum parking quantity and arrangement sequence number of the destination of the horizontal transportation equipment.

[0079] Exemplarily, for each horizontal transport equipment, the equipment determines the rule based on a preset priority value, calculates and processes the maximum number of parking spaces at the destination of the horizontal transport equipment, and the arrangement sequence number of the horizontal transport equipment in the equipment set corresponding to the destination of the horizontal transport equipment, to obtain the priority value of each horizontal transport equipment; for example, the priority value of the container truck path planning is calculated based on a preset priority formula.

[0080] In one example, step 304 includes the following steps:

[0081] The first step of step 304 is to determine the priority value of the horizontal transportation equipment according to the arrangement number if it is determined that the arrangement number of the horizontal transportation equipment is less than the maximum parking quantity of the destination of the horizontal transportation equipment.

[0082] The second step of step 304, if it is determined that the arrangement sequence number of the horizontal transportation equipment is greater than the maximum parking number of the destination of the horizontal transportation equipment, then the priority value of the horizontal transportation equipment is determined according to the entry time, operation time and maximum parking number of the destination of the horizontal transportation equipment; wherein the entry time is the shortest time allowed for entry into the horizontal transportation equipment at the destination; and the operation time is the average operation time of the horizontal transportation equipment at the destination.

[0083] Exemplarily, in the process of calculating the priority value of each horizontal transportation equipment, if the arrangement number of the horizontal transportation equipment is less than the maximum parking number of the destination of the horizontal transportation equipment, the arrangement number of the horizontal transportation equipment is processed based on a preset algorithm to obtain the priority value of the horizontal transportation equipment; if the arrangement number of the horizontal transportation equipment is greater than the maximum parking number of the destination of the horizontal transportation equipment, the shortest time allowed to enter the horizontal transportation equipment at the destination of the horizontal transportation equipment, that is, the entry time, and the average operating time of the horizontal transportation equipment at the destination of the horizontal transportation equipment, that is, the operating time, are determined, and based on the preset algorithm, the entry time, operating time and maximum parking number of the destination of the horizontal transportation equipment are processed to obtain the priority value of the horizontal transportation equipment.

[0084] For example, all unmanned container trucks are grouped according to their destinations, and the container truck queues of each group are sorted from small to large according to the arrival time ts of the work point calculated by static path planning, and the priority value R of each vehicle is calculated in sequence. When the sequence number i of the container truck in the queue is less than the maximum number of parking spaces cw at the work point, based on the formula R=1+ε*i, where ε is a minimum value; if the sequence number i of the container truck in the queue is greater than cw, then the priority value R=1+(i-cw)-(t0-ts) / tw+ε*i, where t0 represents the entry time of the destination, and tw represents the operation time of the destination.

[0085] In one example, step 304 also includes: if it is determined that the position of the horizontal transport equipment is within a preset area of ​​the location of the destination of the horizontal transport equipment, determining the priority value of the horizontal transport equipment according to the distance between the horizontal transport equipment and the entrance of the destination of the horizontal transport equipment.

[0086] Specifically, in the process of calculating the priority value of each horizontal transport equipment, based on the position of each horizontal transport equipment, if it is determined that the position of the horizontal transport equipment is within the preset area of ​​the destination of the horizontal transport equipment, the distance between the horizontal transport equipment and the entrance of the destination of the horizontal transport equipment is determined, and based on the preset algorithm, the distance is calculated and processed to determine the priority value of the horizontal transport equipment.

[0087] For example, for container trucks in the work point area, the priority value R<1, and the container trucks are sorted according to the distance s between the container trucks and the entrance in the work point area. Based on the formula R=(sw-s) / sw, the greater the distance, the smaller the priority value R, where sw represents the reserved lane length of the work point in the status information diagram.

[0088] 305. Perform global path planning processing on the horizontal transportation equipment according to the priority value of each horizontal transportation equipment to obtain the path planning result of the horizontal transportation equipment.

[0089] Exemplarily, this step may refer to step 203 and will not be described in detail here.

[0090] 306. According to each lane and the driving speed of each lane in the path planning result, the horizontal transportation equipment is dispatched.

[0091] Exemplarily, this step may refer to step 204 and will not be described in detail here.

[0092] In this embodiment, on the basis of the above embodiment, based on the above parallel static path planning results, the priority value of the dynamic path planning priority of each horizontal transportation equipment is further calculated, and global path planning processing is performed on each horizontal transportation equipment in order of priority value to obtain the path planning result of each horizontal transportation equipment for scheduling the horizontal transportation equipment; thereby, the average idle time of the operating equipment (bridge crane, gantry crane, etc.) at the destination can be reduced, and the efficiency of the operating equipment can be improved; at the same time, the scheduling efficiency of the horizontal transportation equipment can be improved.

[0093] Figure 5 A flowchart of another method for scheduling horizontal transportation equipment based on global path planning provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the method includes:

[0094] 401. In response to a path planning request, determine a state information map of a target location area in the path planning request; wherein the path planning request represents a request to perform path planning for horizontal transportation equipment in the target location area; and the state information map includes a maximum number of stops at a destination of each horizontal transportation equipment.

[0095] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0096] 402. Determine the priority value of the horizontal transportation equipment according to the maximum number of parking spaces at the destination of the horizontal transportation equipment.

[0097] Exemplarily, this step may refer to step 202 and will not be described in detail here.

[0098] 403. Determine a pruning topology map of each horizontal transport device according to the map information of the destination and target location area of ​​each horizontal transport device in the path planning request; wherein the pruning topology map represents the lane change relationship between each lane through which the horizontal transport device can pass.

[0099] Exemplarily, the device receives a path planning request to request path planning for horizontal transportation equipment in a target location area. The device can obtain map information of the target location area based on the path planning request, including the location and status of the destination of each horizontal transportation equipment, such as a bridge crane or a gantry crane, and road closure information in the target location area, and obtain the operation information and status information of each horizontal transportation equipment. Furthermore, the device can construct a pruning topology map for each horizontal transportation equipment to characterize the lane change relationship between each lane through which the horizontal transportation equipment can pass in the target location area.

[0100] In one example, step 403 includes the following steps:

[0101] The first step of step 403 is to construct a global topology map based on the map information of the destination and target location area of ​​each horizontal transportation equipment in the path planning request; wherein the global topology map represents the positional proximity relationship between each lane in the target location area.

[0102] The second step of step 403 is to search and process the global topology map to determine the static path information of the horizontal transportation equipment; wherein the static path information represents the fastest path and travel distance for the current horizontal transportation equipment to reach the corresponding destination.

[0103] The third step of step 403 is to generate a pruning topology map of the horizontal transportation equipment according to the static path information and the global topology map.

[0104] For example, Figure 6 A schematic diagram of a global path planning process provided in an embodiment of the present application, such as Figure 6As shown, the device receives a path planning request to request path planning for the horizontal transportation equipment in the target location area. The device can obtain the map information of the target location area according to the path planning request, including the location and status of the destination of each horizontal transportation equipment such as a bridge crane or a gantry crane, and the road closure information of the target location area, and obtain the operation information and status information of each horizontal transportation equipment, initialize the map information, and then construct a global topology map of the target location area, which represents the positional adjacency relationship between each lane in the target location area; if the generation of the global topology map fails, the path planning failure is determined, and the failure information is returned to the cloud scheduling system or the horizontal transportation equipment. After the device successfully generates the global topology map, based on the static breadth-first search method, the global topology map is searched and processed to perform parallel static path planning processing on each horizontal transportation equipment, and the static path planning result of each horizontal transportation equipment, that is, the static path information, which represents the path and driving distance of the current horizontal transportation equipment to reach the corresponding destination the fastest. If the generation of the static path planning result fails, the path planning failure is determined, and the failure information is returned to the cloud scheduling system or the horizontal transportation equipment. Based on the static path information Ps of the static path planning, the device extracts all lanes within the possible travel range of the horizontal transport equipment in the global topology map M as nodes, and re-acquires the lane change relationship between the lanes as edges to generate a pruning topology map Mi unique to the horizontal transport equipment i; wherein, the pruning topology map of each horizontal transport equipment can also be generated in combination with the information in the successfully generated working point status information map. If the generation of the pruning topology map fails or the acquisition of the status information map fails, the static path information Ps is returned to the cloud scheduling system or the horizontal transport equipment. In addition, based on the static path information of the static path planning, the horizontal transport equipment in the path planning request can be grouped according to the destination, and the container truck path planning priority value can be calculated based on the preset priority formula.

[0105] 404. According to the pruning topology diagram of each horizontal transportation equipment, path planning processing is performed on the horizontal transportation equipment in order from small to large priority values ​​to obtain the path planning results of the horizontal transportation equipment.

[0106] For example, in combination Figure 6 , the device can generate a dynamic path planning request for all horizontal transport equipment to request dynamic path planning for each horizontal transport equipment, sort the horizontal transport equipment from small to large according to the priority value, and then perform dynamic path planning processing based on the pruned topology map of each horizontal transport equipment in the sorted order to obtain the path planning result of each horizontal transport equipment. It is worth adding that after generating the path planning result of each horizontal transport equipment, the global topology map needs to be updated to perform path planning for the next horizontal transport equipment.

[0107] In one example, step 404 includes the following steps:

[0108] The first step of step 404 is to determine, for the i-th horizontal transport equipment, other horizontal transport equipment with lower priority values ​​than the i-th horizontal transport equipment as the target horizontal transport equipment corresponding to the i-th horizontal transport equipment; and based on the path planning results of each target horizontal transport equipment, update the pruning topology map of the horizontal transport equipment.

[0109] The second step of step 404 is to determine the search queue of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment; wherein the search queue includes the starting lane of the i-th horizontal transport equipment.

[0110] The third step of step 404 is to determine the minimum lane of the i-th horizontal transport equipment from the search queue; wherein the minimum lane represents a lane with the shortest travel time to the starting lane and a search status of an unsearched state; and determine that the search status of the minimum lane is a searched state.

[0111] In the fourth step of step 404, if it is determined that the minimum lane is the terminal lane of the i-th horizontal transport equipment, a path planning result of the i-th horizontal transport equipment is generated according to the updated pruning topology map and the minimum lane.

[0112] Exemplarily, when performing path planning for the ith horizontal transport equipment, the device determines other horizontal transport equipment with lower priority values ​​than the ith horizontal transport equipment from all horizontal transport equipment, and determines them as the target horizontal transport equipment corresponding to the ith horizontal transport equipment, that is, these target horizontal transport equipment are other transport equipment that will affect or restrict the path planning of the ith horizontal transport equipment; and based on the path planning results of each target horizontal transport equipment, the global topology map is updated, and then the pruned topology map of each horizontal transport equipment can be updated; the updated pruned topology map of the ith horizontal transport equipment is searched to determine the search queue of the ith horizontal transport equipment, and the starting point of the ith horizontal transport equipment is updated. The lane is added to the search queue of the i-th horizontal transport equipment; from the search queue of the i-th horizontal transport equipment, the lane with the shortest travel time to the starting lane and the search status of the unsearched state is determined as the minimum lane of the i-th horizontal transport equipment, and the search status of the minimum lane is set to the searched state; then, it is determined whether the minimum lane is the terminal lane of the i-th horizontal transport equipment. If it is determined that the minimum lane is the terminal lane of the i-th horizontal transport equipment, that is, the lane where the destination is located, then according to the updated pruning topology map and the minimum lane of the i-th horizontal transport equipment, the lane that the i-th horizontal transport equipment needs to pass when arriving at the corresponding destination can be determined, and then the path planning result of the i-th horizontal transport equipment can be obtained. It is worth adding that for the first horizontal transport equipment, the path planning result of the first horizontal transport equipment can be determined according to the static path planning algorithm.

[0113] For example, Figure 7 A schematic diagram of a dynamic path search process provided in an embodiment of the present application, such as Figure 7As shown, based on the calculation result of the priority value R, serial dynamic path planning is performed from small to large according to the priority value. The topology map information is initialized before the search, that is, each lane corresponds to each node. Truck i needs to update the status information of each node in the global topology map M to its own pruned topology map Mi. The status information contains the spatiotemporal constraints on node generation caused by the path planning results of trucks with high priority. The node corresponding to the starting lane is added to the search queue to generate the starting search node search_node0. The search node has the following properties: a. the time t to reach the node; b. the position s to reach the node; c. whether the node has been visited is_visited; d. the space-time constraints cons generated by the truck on the node; get the search node with the shortest arrival time t in the search node queue, and the node is called the current minimum search node min_search_node, and set the is_visited of the search node to visited, where the first minimum search node is the starting node; if the minimum search node is the end point, return the minimum search node and the search path connected to the search node, that is, if the search is successful, return the path information Pd, which contains the route collection {lane0, lane1, ..., lanen}, and the driving speed vj on each lanej, and get the path planning result of the truck i.

[0114] In one example, the first step of step 404 includes:

[0115] Step 1: Determine the space-time trajectory information corresponding to each target horizontal transport equipment according to the path planning results of each target horizontal transport equipment; wherein the space-time trajectory information represents the space-time trajectory of each target horizontal transport equipment traveling on each lane in the target position area.

[0116] Step 2: Determine the intersection priority corresponding to the target horizontal transport equipment based on the intersection start time, destination operation time and priority value of the target horizontal transport equipment; wherein the intersection start time is the start time of the target horizontal transport equipment traveling on each lane of the intersection in the target position area; the intersection priority represents the priority of the target horizontal transport equipment in passing through each lane of the intersection.

[0117] Step 3: Determine the intersection constraint information corresponding to each target horizontal transport equipment according to the intersection priority and spatiotemporal trajectory information corresponding to each target horizontal transport equipment; wherein the intersection constraint information represents the time limiting the i-th horizontal transport equipment from entering each intersection lane.

[0118] Step 4: Update the pruning topology map of the i-th horizontal transport equipment according to the spatiotemporal trajectory information and intersection constraint information corresponding to each target horizontal transport equipment.

[0119] Specifically, when updating the pruning topology diagram of the i-th horizontal transport equipment, the spatiotemporal trajectory of each target horizontal transport equipment traveling on each lane in the target position area, that is, the spatiotemporal trajectory information, is generated according to the path planning results of each target horizontal transport equipment corresponding to the i-th horizontal transport equipment; and the starting time of each target horizontal transport equipment traveling on each lane at an intersection in the target position area, that is, the intersection starting time, and the destination operation time of each target horizontal transport equipment are determined, and the intersection start time, destination operation time and priority value of each target horizontal transport equipment are processed based on preset rules or algorithms. The intersection priority corresponding to each target horizontal transport equipment is determined, that is, the priority of each target horizontal transport equipment in passing through each intersection lane is obtained; based on the preset rules or algorithms, the intersection priority and spatiotemporal trajectory information of all target horizontal transport equipment are processed to obtain the time generated by all target horizontal transport equipment to limit the i-th horizontal transport equipment from entering each intersection lane, that is, the intersection constraint information; then, according to the spatiotemporal trajectory information and intersection constraint information of all target horizontal transport equipment, the pruning topology map of the i-th horizontal transport equipment can be updated to obtain the updated pruning topology map of the i-th horizontal transport equipment. Then, the congestion problem of container trucks in the work point area can be alleviated, the number of stops of container trucks due to congestion in the interaction area can be reduced, and the efficiency of horizontal transportation operations can be improved.

[0120] For example, truck i needs to update the status information of each node in the global topology M to its own pruned topology Mi. The status information contains the spatiotemporal constraints generated by the path planning results of the truck with high priority on the nodes. The spatiotemporal constraints are divided into two types. One is the spatiotemporal trajectory generated by the truck moving on the lane, which is numerically expressed as <<t0,s0> ,<te,se> >, where t0 represents the starting time at the node, s0 represents the starting position at the node, te represents the final time at the node, and se represents the final position at the node. The other is the entry constraint for the intersection lane, which is used to limit when vehicles of different priorities can enter the intersection lane, and is numerically expressed as<Rc,tc0> , where tc0 represents the starting time of the container truck arriving at the intersection node, Rc represents the priority value of the unmanned container truck at the intersection, and the calculation formula is Rc=R+tc0 / tw, where tw represents the average time required for the container truck to reach the destination.

[0121] In one example, step 404 further includes:

[0122] Step 1: If it is determined that the minimum lane is not the terminal lane of the i-th horizontal transport equipment, all adjacent lanes that are adjacent to the minimum lane and can be changed are determined according to the updated pruning topology graph of the i-th horizontal transport equipment.

[0123] Step 2: Determine the neighbor travel time and position of the adjacent lane; and determine the adjacent space-time trajectory of the i-th horizontal transportation equipment corresponding to the adjacent lane based on the adjacent travel time and position of the adjacent lane; wherein the adjacent travel time is the travel time required for the horizontal transportation equipment to travel from the smallest lane to the adjacent lane; the adjacent space-time trajectory represents the space-time trajectory generated by the horizontal transportation equipment traveling on the smallest lane.

[0124] Step 3: If it is determined that the adjacent space-time trajectory has no intersection with the target space-time trajectory in the updated pruning topology graph, the target space-time trajectory is updated according to the adjacent space-time trajectory; wherein the target space-time trajectory is the space-time trajectory of each target horizontal transport equipment on the minimum lane.

[0125] Step 4: Add the adjacent lanes to the search queue; and re-execute the step of determining the minimum lane of the i-th horizontal transport equipment from the search queue.

[0126] Specifically, for the i-th horizontal transport equipment, after the equipment determines the minimum lane of the i-th horizontal transport equipment, if it is determined that the minimum lane is not the terminal lane of the i-th horizontal transport equipment, it is necessary to determine all adjacent lanes that are adjacent to the minimum lane and can change lanes based on the updated pruning topology graph of the i-th horizontal transport equipment and the adjacent and lane-changing relationships between the lanes in the graph; for each adjacent lane, determine the driving time required for the current i-th horizontal transport equipment to travel from the minimum lane to the adjacent lane, that is, the adjacent driving time, and determine the space-time trajectory generated by the i-th horizontal transport equipment corresponding to the adjacent lane when traveling on the minimum lane based on the driving time and position of the neighbors of the adjacent lane, that is, obtain The adjacent space-time trajectory of the i-th horizontal transport equipment is determined, and then, according to the updated pruning topology map, the space-time trajectory of each target horizontal transport equipment on the minimum lane, that is, the target space-time trajectory, is determined, and it is judged whether the adjacent space-time trajectory of the i-th horizontal transport equipment corresponding to the adjacent lane conflicts with the target space-time trajectory. If it is determined that the adjacent space-time trajectory has no intersection with the target space-time trajectory, that is, there is no conflict, then according to the adjacent space-time trajectory, the target space-time trajectory is updated to obtain the updated target space-time trajectory, that is, the new space-time constraint on the minimum lane is obtained; and the adjacent lane is added to the search queue, and then the step of determining the minimum lane of the i-th horizontal transport equipment from the search queue is re-executed to determine the next minimum lane.

[0127] For example, combining Figure 7, add the node corresponding to the starting lane to the search queue, generate the starting search node search_node0, obtain the search node with the shortest arrival time t in the search node queue, and this node is called the current minimum search node; if the minimum search node is not the end point, obtain all the edges of the minimum search node in the pruning topology map, that is, the adjacent relationship of all other lanes connected to the current lane, for each edge, obtain the next node connected to the edge, that is, the adjacent lane, and calculate the time tj required for the current minimum search node to reach the next node, where tj = t + lj / vj, lj represents the distance from the current minimum search node to the next node, vj represents the speed allowed by the current minimum search node to travel, according to the calculated time tj and position, generate the space-time trajectory generated by the movement of the card set at the current minimum search node, and compare it with the space-time constraints of the node in the topology map. If there is no conflict with the constraints, the space-time constraint cons of the minimum search node adds the space-time trajectory as a new constraint, and generates the next node as a new search node search_nodej, and adds it to the search queue until the end node is obtained.

[0128] In one example, step 404 also includes: if it is determined that the minimum lane of the i-th horizontal transport equipment cannot be determined in the search queue, then determining the slow path information of the i-th horizontal transport equipment based on the updated pruning topology map of the i-th horizontal transport equipment, and determining the slow path information as the path planning result of the i-th horizontal transport equipment; wherein the slow path information includes the path information of the horizontal transport equipment traveling on the slow lane.

[0129] For example, in combination Figure 6 If the device determines that the minimum lane of the i-th horizontal transport device cannot be determined in the search queue of the i-th horizontal transport device, for example, the search queue is empty, the search fails, and the slow path planning is started, that is, based on the static breadth-first search, and the updated pruned topology graph Mi of the i-th horizontal transport device is used for the search. Compared with the static path planning, both do not consider the dynamically changing factors in the driving environment (such as moving obstacles or real-time traffic conditions). However, the static path planning is based on the cost of each node, such as the time, distance, energy consumption, etc. required to move from one lane to another, which is proportional to the speed, while the slow path planning is based on the cost of each node being inversely proportional to the speed, so the slow path planning will return the path information Pl of the vehicle traveling in the slow lane, which is the path planning result of the i-th horizontal transport device.

[0130] 405. According to each lane in the path planning result and the driving speed of each lane, the horizontal transportation equipment is dispatched.

[0131] Exemplarily, the path planning results for each horizontal transport equipment include the lanes and speed attributes that the horizontal transport equipment needs to pass through to reach the destination, such as the driving speed of the horizontal transport equipment on each lane, and also include the priority attribute of each lane, so that the device schedules the horizontal transport equipment according to the priority attributes of each lane and the driving speed of each lane in each path planning result; or, the device sends all path planning results back to the scheduling system in the cloud, and the scheduling system in the cloud distributes the path planning results of each horizontal transport equipment to each horizontal transport equipment for execution separately to complete the scheduling task.

[0132] In this embodiment, on the basis of the above embodiments, by first determining the path planning results of the horizontal transportation equipment with high priority, and combining the path planning results of the horizontal transportation equipment with high priority, a new space-time constraint on the current horizontal transportation equipment is formed to perform dynamic path planning processing on the current horizontal transportation equipment; further, considering the impact of other horizontal transportation equipment on the path planning of the current horizontal transportation equipment, it is possible to alleviate the congestion problem of container trucks in the work point area, reduce the number of stops of container trucks due to congestion in the interaction area, and at the same time, improve the scheduling efficiency of horizontal transportation equipment in the cloud, control the algorithm time consumption, realize dynamic path planning for multiple horizontal transportation equipment, and further improve the horizontal transportation operation efficiency in the multi-horizontal transportation equipment operation scenario.

[0133] Figure 8 A schematic diagram of a horizontal transportation equipment scheduling device based on global path planning provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the device comprises:

[0134] A first determination module 501 is used to determine, in response to a path planning request, a state information graph of a target location area in the path planning request; wherein the path planning request represents a request to perform path planning for horizontal transportation equipment in the target location area; and the state information graph includes a maximum number of stops at a destination of each horizontal transportation equipment;

[0135] A second determination module 502 is used to determine the priority value of the horizontal transportation equipment according to the maximum parking quantity of the destination of the horizontal transportation equipment;

[0136] The processing module 503 is used to perform global path planning processing on the horizontal transportation equipment according to the priority value of each horizontal transportation equipment to obtain the path planning result of the horizontal transportation equipment;

[0137] The scheduling module 504 is used to schedule each horizontal transportation equipment according to the path planning results of each horizontal transportation equipment.

[0138] In a possible implementation, the second determination module 502 is specifically used to: generate a global topology map of the target location area based on the destination of each horizontal transport equipment and map information of the target location area; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; according to the global topology map, group and sort each horizontal transport equipment to obtain at least one equipment set; wherein the destination of each horizontal transport equipment in the equipment set is the same; each horizontal transport equipment in the equipment set has an arrangement sequence number; and determine the priority value of the horizontal transport equipment based on the maximum parking quantity and the arrangement sequence number of the destination of the horizontal transport equipment.

[0139] In one possible implementation, the second determination module 502 is specifically used to: search and process the global topology map to determine the static path information of the horizontal transport equipment; wherein the static path information includes the arrival time, and the arrival time is the time required for the current horizontal transport equipment to reach the corresponding destination; grouping the horizontal transport equipment to obtain at least one initial equipment set; wherein the destinations of the horizontal transport equipment in the initial equipment set are the same; and sorting the horizontal transport equipment in the initial equipment set from small to large according to the arrival time to obtain an equipment set.

[0140] In a possible implementation, the second determination module 502 is further specifically used to: if it is determined that the arrangement number of the horizontal transportation equipment is less than the maximum number of parking spaces at the destination of the horizontal transportation equipment, then determine the priority value of the horizontal transportation equipment according to the arrangement number; if it is determined that the arrangement number of the horizontal transportation equipment is greater than the maximum number of parking spaces at the destination of the horizontal transportation equipment, then determine the priority value of the horizontal transportation equipment according to the entry time, operation time and maximum number of parking spaces at the destination of the horizontal transportation equipment; wherein the entry time is the shortest time allowed for the destination to enter the horizontal transportation equipment; and the operation time is the average operation time of the horizontal transportation equipment at the destination.

[0141] In a possible implementation, the second determination module 502 is further specifically used to: if it is determined that the position of the horizontal transport equipment is within a preset area of ​​the location of the destination of the horizontal transport equipment, then the priority value of the horizontal transport equipment is determined based on the distance between the horizontal transport equipment and the entrance of the destination of the horizontal transport equipment.

[0142] In one possible implementation, the processing module 503 is specifically used to: determine a pruning topology map of each horizontal transport equipment based on map information of the destination and target location area of ​​each horizontal transport equipment in the path planning request; wherein the pruning topology map represents the lane change relationship between each lane through which the horizontal transport equipment can pass; and perform path planning processing on the horizontal transport equipment in ascending order of priority value based on the pruning topology map of each horizontal transport equipment to obtain a path planning result for the horizontal transport equipment.

[0143] In one possible implementation, the processing module 503 is specifically used to: construct a global topology map based on the map information of the destination and target location area of ​​each horizontal transport equipment in the path planning request; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; search and process the global topology map to determine the static path information of the horizontal transport equipment; wherein the static path information represents the fastest path and driving distance for the current horizontal transport equipment to reach the corresponding destination; and generate a pruned topology map of the horizontal transport equipment based on the static path information and the global topology map.

[0144] In a possible implementation, the processing module 503 is further specifically used to: for the i-th horizontal transport equipment, determine other horizontal transport equipment with lower priority values ​​than the i-th horizontal transport equipment as the target horizontal transport equipment corresponding to the i-th horizontal transport equipment; and update the pruning topology map of the horizontal transport equipment according to the path planning results of each target horizontal transport equipment; determine the search queue of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment; wherein the search queue includes the starting lane of the i-th horizontal transport equipment; determine the minimum lane of the i-th horizontal transport equipment from the search queue; wherein the minimum lane represents the lane with the shortest driving time between the starting lane and the search status is the unsearched state; and determine the search status of the minimum lane to be the searched state; if it is determined that the minimum lane is the terminal lane of the i-th horizontal transport equipment, then generate the path planning result of the i-th horizontal transport equipment according to the updated pruning topology map and the minimum lane.

[0145] In a possible implementation, the processing module 503 is further specifically used to: determine the spatiotemporal trajectory information corresponding to each target horizontal transport equipment based on the path planning results of each target horizontal transport equipment; wherein the spatiotemporal trajectory information represents the spatiotemporal trajectory of each target horizontal transport equipment traveling on each lane in the target location area; determine the intersection priority corresponding to the target horizontal transport equipment based on the intersection start time, destination operation time and priority value of the target horizontal transport equipment; wherein the intersection start time is the start time of the target horizontal transport equipment traveling on each lane of the intersection in the target location area; the intersection priority represents the priority of the target horizontal transport equipment in passing through each lane of the intersection; determine the intersection constraint information corresponding to each target horizontal transport equipment based on the intersection priority and spatiotemporal trajectory information corresponding to each target horizontal transport equipment; wherein the intersection constraint information represents the time to restrict the i-th horizontal transport equipment from entering each lane of the intersection; and update the pruned topology map of the i-th horizontal transport equipment based on the spatiotemporal trajectory information and intersection constraint information corresponding to each target horizontal transport equipment.

[0146] In a possible implementation, the processing module 503 is further specifically used for: if it is determined that the minimum lane is not the terminal lane of the i-th horizontal transport equipment, then according to the updated pruning topology map of the i-th horizontal transport equipment, determining all adjacent lanes that are adjacent to the minimum lane and can change lanes; determining the neighbor driving time and position of the adjacent lanes; and determining the adjacent space-time trajectory of the i-th horizontal transport equipment corresponding to the adjacent lane according to the adjacent driving time and position of the adjacent lane; wherein the adjacent driving time is the driving time required for the horizontal transport equipment to travel from the minimum lane to the adjacent lane; the adjacent space-time trajectory represents the space-time trajectory generated by the horizontal transport equipment traveling on the minimum lane; if it is determined that the adjacent space-time trajectory has no intersection with the target space-time trajectory in the updated pruning topology map, then updating the target space-time trajectory according to the adjacent space-time trajectory; wherein the target space-time trajectory is the space-time trajectory of each target horizontal transport equipment on the minimum lane; adding the adjacent lane to the search queue; and re-executing the step of determining the minimum lane of the i-th horizontal transport equipment from the search queue.

[0147] In one possible implementation, the processing module 503 is specifically used to: if it is determined that the minimum lane of the i-th horizontal transport equipment cannot be determined in the search queue, then determine the slow path information of the i-th horizontal transport equipment according to the updated pruning topology map of the i-th horizontal transport equipment, and determine the slow path information as the path planning result of the i-th horizontal transport equipment; wherein the slow path information includes the path information of the horizontal transport equipment traveling on the slow lane.

[0148] In a possible implementation, the scheduling module 504 is specifically used to schedule the horizontal transportation equipment according to each lane and the driving speed of each lane in the path planning result.

[0149] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0150] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. Each module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The functions of each module. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0151] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the electronic device includes: a memory 601 and a processor 602; the memory 601 is a memory for storing instructions executable by the processor 602.

[0152] The processor 602 is configured to execute the method provided in the above embodiment.

[0153] The electronic device further includes a receiver 603 and a transmitter 604. The receiver 603 is used to receive instructions and data sent by other devices, and the transmitter 604 is used to send instructions and data to external devices.

[0154] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0155] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0156] The memory may include a high-speed memory (Random Access Memory, referred to as RAM), and may also include a non-volatile memory (Non-volatile Memory, referred to as NVM), such as at least one disk memory.

[0157] An embodiment of the present application also provides a chip for executing instructions, which is used to execute the technical solution of the processing method in the above embodiment.

[0158] The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed on a computer, the computer executes the technical solution of the processing method of the above embodiment.

[0159] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0160] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in a dedicated integrated circuit. Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0161] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution of the processing method in the above embodiment can be implemented.

[0162] Those skilled in the art will appreciate that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0163] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for scheduling horizontal transportation equipment based on global path planning, characterized in that: include: In response to a path planning request, determining a state information graph of a target location area in the path planning request; wherein the path planning request represents a request to perform path planning for horizontal transportation equipment in the target location area; and the state information graph includes a maximum number of stops at a destination of each of the horizontal transportation equipment; Determining the priority value of the horizontal transportation equipment according to the maximum parking quantity at the destination of the horizontal transportation equipment; According to the priority value of each of the horizontal transport equipment, a global path planning process is performed on the horizontal transport equipment to obtain a path planning result of the horizontal transport equipment; According to the path planning results of each of the horizontal transportation equipment, each of the horizontal transportation equipment is scheduled.

2. The method according to claim 1, characterized in that Determining the priority value of the horizontal transportation equipment according to the maximum parking quantity of the destination of the horizontal transportation equipment includes: Generate a global topological map of the target location area according to the destination of each of the horizontal transport devices and the map information of the target location area; wherein the global topological map represents the positional adjacency relationship between each lane in the target location area; According to the global topology map, each of the horizontal transport devices is grouped and sorted to obtain at least one device set; wherein the destinations of the various horizontal transport devices in the device set are the same; and each of the horizontal transport devices in the device set has an arrangement sequence number; The priority value of the horizontal transportation equipment is determined according to the maximum parking quantity and arrangement sequence number of the destination of the horizontal transportation equipment.

3. The method according to claim 2, characterized in that According to the global topology diagram, each of the horizontal transport devices is grouped and sorted to obtain at least one device set, including: Searching and processing the global topology map to determine static path information of the horizontal transport equipment; wherein the static path information includes an arrival time, and the arrival time is the time required for the current horizontal transport equipment to reach the corresponding destination; Grouping the horizontal transport devices to obtain at least one initial device set; wherein the destinations of the horizontal transport devices in the initial device set are the same; The various horizontal transport equipment in the initial equipment set are sorted from small to large according to the arrival time to obtain the equipment set.

4. The method according to claim 2, characterized in that: Determining the priority value of the horizontal transportation equipment according to the maximum parking quantity and arrangement sequence number of the destination of the horizontal transportation equipment includes: If it is determined that the arrangement sequence number of the horizontal transportation equipment is less than the maximum parking quantity of the destination of the horizontal transportation equipment, then determining the priority value of the horizontal transportation equipment according to the arrangement sequence number; If it is determined that the arrangement sequence number of the horizontal transportation equipment is greater than the maximum parking number of the destination of the horizontal transportation equipment, the priority value of the horizontal transportation equipment is determined according to the entry time, operation time and maximum parking number of the destination of the horizontal transportation equipment; wherein the entry time is the shortest time allowed for entry into the horizontal transportation equipment at the destination; and the operation time is the average operation time of the horizontal transportation equipment at the destination.

5. The method according to claim 4, characterized in that The method further comprises: If it is determined that the position of the horizontal transportation equipment is within a preset area of ​​the position of the destination of the horizontal transportation equipment, the priority value of the horizontal transportation equipment is determined according to the distance between the horizontal transportation equipment and the entrance of the destination of the horizontal transportation equipment.

6. The method according to claim 1, characterized in that According to the priority value of each of the horizontal transport equipment, a global path planning process is performed on the horizontal transport equipment to obtain a path planning result of the horizontal transport equipment, including: Determine a pruning topology map of each horizontal transport device according to the destination of each horizontal transport device and the map information of the target location area in the path planning request; wherein the pruning topology map represents the lane change relationship between each lane through which the horizontal transport device can pass; According to the pruning topology diagram of each of the horizontal transport equipment, path planning processing is performed on the horizontal transport equipment in order from small to large priority values ​​to obtain the path planning results of the horizontal transport equipment.

7. The method according to claim 6, characterized in that Determining a pruning topology map of each horizontal transport device according to the destination of each horizontal transport device and the map information of the target location area in the path planning request includes: Constructing a global topology map according to the destination of each horizontal transport device in the path planning request and the map information of the target location area; wherein the global topology map represents the positional proximity relationship between each lane in the target location area; Searching and processing the global topology map to determine static path information of the horizontal transport equipment; wherein the static path information represents the fastest path and travel distance for the current horizontal transport equipment to reach the corresponding destination; A pruning topology map of the horizontal transportation equipment is generated according to the static path information and the global topology map.

8. The method according to claim 6, characterized in that According to the pruning topology graph of each horizontal transport device, path planning processing is performed on the horizontal transport devices in order from small to large priority values ​​to obtain path planning results of the horizontal transport devices, including: For the i-th horizontal transport equipment, determine other horizontal transport equipment with a lower priority value than the i-th horizontal transport equipment as the target horizontal transport equipment corresponding to the i-th horizontal transport equipment; and update the pruning topology map of the horizontal transport equipment according to the path planning results of each of the target horizontal transport equipment; Determine a search queue for the i-th horizontal transport equipment according to the updated pruning topology graph for the i-th horizontal transport equipment; wherein the search queue includes a starting lane for the i-th horizontal transport equipment; Determine the minimum lane of the i-th horizontal transport equipment from the search queue; wherein the minimum lane represents a lane with the shortest travel time to the starting lane and a search status of an unsearched state; and determine the search status of the minimum lane to be a searched state; If it is determined that the minimum lane is the terminal lane of the i-th horizontal transport equipment, a path planning result of the i-th horizontal transport equipment is generated according to the updated pruning topology map and the minimum lane.

9. The method according to claim 8, characterized in that The method further comprises: If it is determined that the minimum lane is not the terminal lane of the i-th horizontal transport equipment, all adjacent lanes that are adjacent to the minimum lane and can be changed are determined according to the updated pruning topology graph of the i-th horizontal transport equipment; Determine the neighbor travel time and position of the adjacent lane; and determine the adjacent space-time trajectory of the i-th horizontal transportation equipment corresponding to the adjacent lane according to the adjacent travel time and position of the adjacent lane; wherein the adjacent travel time is the travel time required for the horizontal transportation equipment to travel from the smallest lane to the adjacent lane; the adjacent space-time trajectory represents the space-time trajectory generated by the horizontal transportation equipment traveling on the smallest lane; If it is determined that the adjacent space-time trajectory has no intersection with the target space-time trajectory in the updated pruning topology graph, the target space-time trajectory is updated according to the adjacent space-time trajectory; wherein the target space-time trajectory is the space-time trajectory of each target horizontal transportation equipment on the smallest lane; Add the adjacent lane to the search queue; and re-execute the step of determining the minimum lane of the i-th horizontal transport equipment from the search queue.

10. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 9.

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