Port automatic driving container truck grouping system

Abstract

The invention provides a port automatic driving container truck grouping system, and the system is characterized in that a port operation scheduling platform is used for generating a transportation task according to cargo information, and transmitting the transportation task to vehicle-road cooperation roadside equipment; and the vehicle-road cooperation roadside equipment is used for acquiring the transportation task, generating a team formation control instruction according to the transportation task, and sending the team formation control instruction to the automatic driving container trucks, so that the target automatic driving container trucks meeting the preset number can form a team according to the team formation control instruction, and cargo transportation is completed according to a team formation form. According to the system, the port operation scheduling platform flexibly sets the number of the target automatic driving container trucks participating in cargo transportation according to the cargo information, and the vehicle-road cooperation roadside equipment generates the team formation control instruction, so that the multiple target automatic driving container trucks carry out transportation in a team formation manner, thereby improving the transportation efficiency and reducing the transportation cost. And the control cost of the automatic driving container truck is reduced through a team forming mode, and the transportation requirement of a port is met.

Description

Technical Field

[0001] The present invention relates to the technical field of port container trucks, and in particular to a port automatic driving container truck teaming system. Background Art

[0002] A container truck refers to a special equipment for horizontal container handling operations, which is mainly divided into ordinary container trucks and self-driving container trucks; among them, ordinary container trucks need to be operated by operators, while self-driving container trucks can be connected to the port operation management system and run under the scheduling of the port operation management system. For self-driving container trucks, the existing port operation management system often determines the number of self-driving container trucks according to the transportation task, and controls multiple self-driving container trucks to transport containers of transportation tasks. However, with the continuous growth of port operation throughput, the number of containers that need to be transported in the port continues to increase, causing the number of self-driving container trucks to transport to double, which not only increases the control cost of self-driving container trucks, but also easily leads to a decrease in port traffic operation efficiency, thereby reducing the transportation efficiency of containers. Therefore, there is an urgent need for a flexible deployment method for self-driving container trucks to meet the transportation needs of ports. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a port autonomous driving container truck teaming system to alleviate the above-mentioned problems.

[0004] An embodiment of the present invention provides a port autonomous driving container truck teaming system, comprising: a port operation and scheduling platform, a vehicle-road collaborative roadside device, and a plurality of autonomous driving container trucks; wherein the port operation and scheduling platform and the plurality of autonomous driving container trucks are all communicatively connected to the vehicle-road collaborative roadside device, and the plurality of autonomous driving container trucks are communicatively connected to each other; the port operation and scheduling platform is used to generate a transportation task according to cargo information, and send the transportation task to the vehicle-road collaborative roadside device; wherein the transportation task includes: the target location of the cargo and a preset number of target autonomous driving container trucks participating in transporting the cargo, and the plurality of target autonomous driving container trucks are transported in the form of a team; the vehicle-road collaborative roadside device is used to obtain the transportation task, and generate a teaming control instruction according to the transportation task, and send the teaming control instruction to the autonomous driving container trucks, so that the target autonomous driving container trucks meeting the preset number are teamed according to the teaming control instruction, and complete the cargo transportation in the form of a team.

[0005] Preferably, the autonomous driving container truck is also equipped with on-board equipment; wherein the on-board equipment are connected to communicate with each other; the on-board equipment is also used to obtain team formation control instructions, and automatically form a team according to the team formation control instructions until the number of target autonomous driving container trucks in the team reaches a preset number.

[0006] Preferably, the on-board device is also used to generate a teaming request according to the teaming control instruction, and send the teaming request to the vehicle-road collaborative roadside device; the vehicle-road collaborative roadside device is also used to obtain the teaming request, and send the teaming request to the on-board devices of the remaining autonomous driving container trucks respectively; and, obtain the teaming reply information sent by the on-board devices of the remaining autonomous driving container trucks, and generate a teaming strategy containing a preset number of target autonomous driving container trucks; send the teaming strategy to the target autonomous driving container trucks, so that multiple target autonomous driving container trucks are teamed according to the teaming strategy.

[0007] Preferably, a preset number of target autonomous driving container truck teams generate at least one container truck team.

[0008] Preferably, the truck fleet includes a first truck fleet and a second truck fleet; wherein the number of target autonomous driving trucks in the first truck fleet is equal to the number of target autonomous driving trucks in the second truck fleet.

[0009] Preferably, the vehicle-road cooperative roadside equipment is also used to obtain the operating parameters of the corresponding target autonomous driving container truck sent by the on-board equipment, generate team control parameters according to the operating parameters, and send the team control parameters to the on-board equipment, so that the on-board equipment controls the operation of the target autonomous driving container truck according to the team control parameters; wherein the operating parameters include: operating position and operating speed, and the team control parameters include: team operating direction and team operating speed.

[0010] Preferably, the system also includes a road perception control device; wherein the road perception control device is communicatively connected with the port operation dispatching platform and the vehicle-road cooperative roadside device respectively; the road perception control device is used to monitor the road traffic status data of the road on which the autonomous driving container truck is traveling, and send the road traffic status data to the vehicle-road cooperative roadside device; the vehicle-road cooperative roadside device is used to obtain the road traffic status data and the vehicle traffic status data of the target autonomous driving container truck, and generate traffic status data based on the road traffic status data and the vehicle traffic status data, and send the traffic status data to the port operation dispatching platform; the port operation dispatching platform is used to obtain the traffic status data, and broadcast and / or display the traffic status data.

[0011] Preferably, the road sensing control equipment is also used to monitor the air quality data of the port, and send the air quality data to the port operation and scheduling platform, so that the port operation and scheduling platform generates early warning information based on the air quality data and preset thresholds, and displays and / or broadcasts the early warning information.

[0012] Preferably, the road perception and control equipment is also used to send air quality data to the vehicle-road collaborative roadside equipment; the vehicle-road collaborative roadside equipment is also used to send air quality data to the port operation and dispatching platform, so that the port operation and dispatching platform can generate early warning information based on the air quality data and preset thresholds, and display and / or broadcast the early warning information.

[0013] Preferably, the port operation dispatching platform also includes a display screen and a voice module; wherein the display screen is used to display the early warning prompt information, and the voice module is used to broadcast the early warning prompt information.

[0014] The embodiments of the present invention bring the following beneficial effects:

[0015] An embodiment of the present invention provides a port autonomous driving container truck teaming system. The port operation and scheduling platform flexibly sets the number of target autonomous driving container trucks participating in the transportation of goods according to the cargo information. The vehicle-road cooperative roadside equipment generates teaming control instructions, so that multiple target autonomous driving container trucks are transported in the form of a team, which not only improves the transportation efficiency, but also reduces the control cost of the autonomous driving container trucks through the teaming form, thereby meeting the transportation needs of the port.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of a port autonomous driving container truck platooning system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.

[0022] The embodiment of the present invention provides a port autonomous driving container truck teaming system, such as Figure 1 As shown, it includes: a port operation and scheduling platform 11, a vehicle-road collaborative roadside device 12 and a plurality of autonomous driving container trucks 13 (only two are shown here); wherein, the port operation and scheduling platform 11 and the plurality of autonomous driving container trucks 13 are all communicatively connected with the vehicle-road collaborative roadside device 12, and the plurality of autonomous driving container trucks 13 are communicatively connected with each other; it should be noted that the number of autonomous driving container trucks 13 in the port can be set according to actual conditions.

[0023] Among them, the port operation scheduling platform 11 is used to generate a transportation task according to the cargo information, and send the transportation task to the vehicle-road cooperative roadside equipment 12; wherein the transportation task includes: the target location of the cargo and the preset number of target autonomous driving container trucks participating in transporting the cargo, and multiple target autonomous driving container trucks are transported in the form of a team; the vehicle-road cooperative roadside equipment 12 is used to obtain the transportation task, and generate a team control instruction according to the transportation task, and send the team control instruction to the autonomous driving container truck 13, so that the target autonomous driving container trucks that meet the preset number are teamed according to the team control instruction, and complete the cargo transportation in the form of a team.

[0024] Specifically, for the port operation scheduling platform 11, after determining the cargo information to be transported, such as the container information to be transported in the container yard, a transportation task is generated according to the cargo information. In the transportation task, the target location of the cargo (i.e., container) and the number of autonomous driving container trucks participating in the transportation are included. For the sake of distinction, the autonomous driving container trucks for parameter transportation are referred to as target autonomous driving container trucks, and the corresponding number is referred to as the preset number. In the transportation task, the preset number of target autonomous driving container trucks are specified to be transported in the form of a team; and, after the transportation task is generated, the port operation scheduling platform 11 sends the transportation task to the vehicle-road cooperative roadside device 12. At this time, for the vehicle-road cooperative roadside device 12, a team control instruction is generated according to the transportation task, and the team control instruction is sent to the autonomous driving container truck 13, so that the target autonomous driving container trucks that meet the preset number are teamed according to the team control instruction, and the cargo transportation is completed in the form of a team. This scheduling method of autonomous driving container trucks can not only realize flexible vehicle scheduling of autonomous driving container trucks, but also reduce the control cost of autonomous driving container trucks through teaming during cargo transportation, improve the container transportation efficiency of the port, and thus meet the transportation needs of the port.

[0025] It should be noted that, for the port operation and scheduling platform 11, before generating a transportation task, it is also possible to pre-acquire the status information of each autonomous driving container truck 13 sent by the vehicle-road cooperative roadside equipment 12. Here, the status information is divided into an operating state and an idle state, so that the preset number of target autonomous driving container trucks participating in the transportation can be flexibly set according to the cargo information and the status information of each autonomous driving container truck; in some cases, each autonomous driving container truck 13 is pre-formed into a plurality of container truck fleets, and the composition information is pre-stored in the port operation and scheduling platform 11. When cargo transportation is required, the port operation and scheduling platform 11 determines the preset number of target autonomous driving container trucks according to the cargo information, and determines the target container truck fleet that meets the preset number from the composition information. At this time, the generated transportation task also includes the information of the target container truck fleet, so that after the vehicle-road cooperative roadside equipment 12 receives the transportation task, it will send the team control instruction directly to the multiple target autonomous driving container trucks included in the target container truck fleet. This method improves the efficiency of the target autonomous driving container truck teaming and further improves the port cargo transportation efficiency.

[0026] In one embodiment, the autonomous driving container truck 13 is also equipped with an on-board device (not shown); wherein the on-board devices are connected to each other for communication; the on-board device is also used to obtain team formation control instructions, and automatically form a team according to the team formation control instructions until the number of target autonomous driving container trucks in the team reaches a preset number.

[0027] Specifically, the autonomous driving container trucks communicate with each other through the on-board devices. When the on-board devices obtain the teaming control command sent by the vehicle-road cooperative roadside device 12, the on-board devices of the autonomous driving container trucks in the idle state team up through the teaming control command until the number of target autonomous driving container trucks in the team reaches a preset number. After the on-board devices of the target autonomous driving container trucks receive the teaming control command, they respectively generate response information, such as agreeing to team up or refusing to team up, and automatically form a truck team with the autonomous driving container trucks that agree to team up as the response information. Alternatively, the on-board device of one of the autonomous driving container trucks sends an inquiry message about whether to team up to the on-board devices of the remaining autonomous driving container trucks, and forms a truck team with the target autonomous driving container trucks that agree to team up. The specific technology of teaming multiple autonomous driving container trucks through communication between on-board devices can refer to the existing intelligent vehicle teaming technology, and the embodiments of the present invention will not be described in detail here.

[0028] Therefore, after the vehicle-road cooperative roadside equipment 12 sends the teaming control instruction to the autonomous driving container trucks, the autonomous driving container trucks automatically team up through communication between on-board equipment. This not only reduces the control cost of the autonomous driving container trucks, but also realizes the flexible setting of the autonomous driving container trucks involved in the transportation, enriches the scenarios of autonomous driving container truck teaming, and meets the various transportation needs of the port.

[0029] In one embodiment, the on-board device is also used to generate a teaming request according to the teaming control instruction, and send the teaming request to the vehicle-road collaborative roadside device; the vehicle-road collaborative roadside device is also used to obtain the teaming request, and send the teaming request to the on-board devices of the remaining autonomous driving container trucks respectively; and, obtain the teaming reply information sent by the on-board devices of the remaining autonomous driving container trucks, and generate a teaming strategy including a preset number of target autonomous driving container trucks; send the teaming strategy to the target autonomous driving container trucks, so that multiple target autonomous driving container trucks are teamed according to the teaming strategy.

[0030] In addition to realizing the formation of autonomous driving container trucks through communication between vehicles, the formation of autonomous driving container trucks can also be realized based on the vehicle-road cooperative roadside equipment 12. Specifically, the on-board device can also generate a teaming request according to the teaming control instruction, and send the teaming request to the vehicle-road collaborative roadside device 12; for example, according to the reception time of the teaming control instruction, the on-board device of the autonomous driving container truck that obtains the teaming request information earliest, generates a teaming request according to the teaming control instruction, and sends the teaming request to the vehicle-road collaborative roadside device 12; at this time, after the vehicle-road collaborative roadside device 12 obtains the teaming request, it also broadcasts the teaming request to send the teaming request to the on-board devices of the remaining autonomous driving container trucks respectively; after receiving the teaming request, the on-board devices of the remaining autonomous driving container trucks generate teaming reply information, such as agreeing to the teaming information or rejecting the teaming information, and send the teaming reply information to the vehicle-road collaborative roadside device 12, the vehicle-road collaborative roadside device 12 generates a teaming strategy containing a preset number of target autonomous driving container trucks according to the teaming reply information, and sends the teaming strategy to the target autonomous driving container trucks, so that multiple target autonomous driving container trucks are teamed according to the teaming strategy.

[0031] Therefore, this teaming method can avoid the situation where the number of idle autonomous driving container trucks does not reach the preset number, resulting in the inability to form a team. By broadcasting the teaming request through the vehicle-road cooperative roadside equipment 12, some autonomous driving container trucks that are about to complete the transportation task can participate in the current transportation task, thereby achieving the target autonomous driving container trucks The teaming is carried out according to the preset number, thereby ensuring the transportation efficiency of the current transportation task and improving the transportation efficiency of the port.

[0032] It should be noted that the above-mentioned preset number of target self-driving container trucks form at least one container truck convoy. If there is one container truck convoy, the preset number of target self-driving container trucks transport containers simultaneously according to one vehicle train; if the container truck convoy includes a first container truck convoy and a second container truck convoy; wherein, the number of target self-driving container trucks in the first container truck convoy is equal to the number of target self-driving container trucks in the second container truck convoy, thereby further improving the transportation efficiency of containers through multiple parallel container truck trains, thereby improving the transportation efficiency of the port.

[0033] In addition, after the team is formed, each of the multiple target autonomous driving container trucks in the container truck team is also configured with a formation ID (Identity Document, exclusive number). During the transportation process, based on the formation ID, subsequent target autonomous driving container trucks all operate in accordance with the previous target autonomous driving container truck, thereby reducing the control cost of the autonomous driving container truck during transportation.

[0034] In addition, when the transport mission is completed, the on-board equipment of each autonomous container truck also deletes the formation ID of the autonomous container truck in the current transport fleet so that a new formation ID can be reconfigured in subsequent fleet formations, thereby avoiding the storage of a large amount of historical data in the on-board equipment and further ensuring the control accuracy of the autonomous container truck.

[0035] In one embodiment, the vehicle-road cooperative roadside device 12 is also used to obtain the operating parameters of the corresponding target autonomous driving container truck sent by the on-board device, generate team control parameters based on the operating parameters, and send the team control parameters to the on-board device, so that the on-board device controls the operation of the target autonomous driving container truck according to the team control parameters; wherein the operating parameters include: operating position and operating speed, and the team control parameters include: team operating direction and team operating speed.

[0036] Specifically, Figure 1 As shown, during the transportation process, the on-board equipment of the target autonomous driving container truck also obtains the operating parameters of the target autonomous driving container truck, where the transportation parameters include but are not limited to: operating position and operating speed, etc., and sends the operating parameters and the formation ID, etc. to the vehicle-road cooperative roadside equipment 12; at this time, the vehicle-road cooperative roadside equipment 12 generates a team control parameter based on the obtained operating parameters and the formation ID, where the team control parameter includes but is not limited to the team running direction and the team running speed, etc., and sends the team control parameter to the on-board equipment, so that the on-board equipment controls the operation of the target autonomous driving container truck according to the team control parameter. For example, if during the transportation process, a target autonomous driving container truck deviates from the formation formation, such as there is an offset from the running trajectory of the target autonomous driving container trucks before and after, the vehicle-road cooperative roadside equipment determines that the target autonomous driving container truck deviates from the formation formation according to the operating parameters of each target autonomous driving container truck obtained, and generates a team control parameter so that the on-board equipment of the target autonomous driving container truck adjusts its operation according to the team control parameter, thereby ensuring the safe operation of each target autonomous driving container truck during the team operation process, and further ensuring the cargo transportation efficiency of the port.

[0037] In one embodiment, if Figure 1As shown, the system also includes a road perception control device 14; wherein the road perception control device 14 is respectively communicated with the port operation and scheduling platform 11 and the vehicle-road cooperative roadside device 12; the road perception control device 14 is used to monitor the road traffic status data of the road on which the autonomous driving container truck is traveling, and send the road traffic status data to the vehicle-road cooperative roadside device 12; the vehicle-road cooperative roadside device 12 is used to obtain the road traffic status data and the vehicle traffic status data of the target autonomous driving container truck, and generate traffic status data based on the road traffic status data and the vehicle traffic status data, and send the traffic status data to the port operation and scheduling platform 11; the port operation and scheduling platform 11 is used to obtain the traffic status data, and broadcast and / or display the traffic status data.

[0038] Among them, the road perception control equipment 14 includes but is not limited to traffic cameras and traffic lights, etc., to monitor the road traffic status data of the road where the autonomous driving container truck is traveling, and send the road traffic status data to the vehicle-road cooperative roadside equipment 12; the vehicle-road cooperative roadside equipment 12 includes but is not limited to RSU (Road Side Unit), laser radar and millimeter wave radar, etc., to monitor the vehicle traffic status data of the target autonomous driving container truck, and generate traffic status data based on the road traffic status data and the vehicle traffic status data, and send the traffic status data to the port operation and scheduling platform 11, so that the port operation and scheduling platform 11 broadcasts and / or displays the traffic status data, such as broadcasting the congestion of a certain section of road, so that the remaining vehicles (including but not limited to ordinary container trucks and / or autonomous driving container trucks not participating in team transportation, etc.) can adjust the routes in time according to the traffic status data, etc., which not only realizes the traffic monitoring of the port and ensures the safe operation of the autonomous driving container truck, but also ensures the transportation efficiency and safety of the port.

[0039] It should be noted that, in some cases, the road perception control device 14 can also directly send the road traffic status data to the port operation and dispatching platform 11. At the same time, the vehicle-road cooperative roadside device 12 sends the vehicle traffic status data to the port operation and dispatching platform 11. At this time, the port operation and dispatching platform 11 generates traffic status data based on the road traffic status data and the vehicle traffic status data, and broadcasts and / or displays the traffic status data to realize port traffic monitoring. Alternatively, the vehicle-road cooperative roadside device 12 sends the vehicle traffic status data to the road perception control device 14, so that the road perception control device 14 sends the road traffic status data and the vehicle traffic status data to the port operation and dispatching platform 11. The specific settings can be made according to the actual situation.

[0040] In one embodiment, the road perception control device 14 is also used to monitor the air quality data of the port, and send the air quality data to the port operation and scheduling platform 11, so that the port operation and scheduling platform 11 generates early warning information based on the air quality data and preset thresholds, and displays and / or broadcasts the early warning information.

[0041] Specifically, in addition to the equipment for monitoring road traffic status data, the above-mentioned road perception and control equipment 14 also includes equipment for monitoring air quality data, such as various sensors, and sends the monitored air quality data to the port operation and dispatching platform 11; at this time, after the port operation and dispatching platform 11 obtains the air quality data, it also generates early warning prompt information based on the air quality data and the preset threshold value to realize the environmental monitoring of the port; if the air quality data is greater than the corresponding preset threshold value, an early warning prompt information of poor air quality is generated, and the early warning prompt information is displayed and / or broadcast, so that the dispatching personnel can control the tugboats and / or container trucks in the port according to the early warning prompt information, such as reducing the number of tugboats in operation, reducing the number of ordinary container trucks, etc., to ensure the air environment quality of the port; or, in a poor environment such as heavy fog, the early warning prompt information is used to facilitate the operators of tugboats and / or container trucks to grasp the weather conditions in time, thereby ensuring the safe operation of tugboats and / or container trucks.

[0042] In addition, the road sensing control device 14 is also used to send air quality data to the vehicle-road cooperative roadside device 12; the vehicle-road cooperative roadside device 12 is also used to send air quality data to the port operation scheduling platform 11, so that the port operation scheduling platform 11 generates early warning information according to the air quality data and the preset threshold, and displays and / or broadcasts the early warning information. The specific transmission method of air quality data can be set according to actual conditions, and the embodiment of the present invention will not be described in detail here.

[0043] Preferably, the port operation dispatching platform 11 also includes a display screen (not shown) and a voice module (not shown); wherein the display screen is used to display early warning prompt information, and the voice module is used to broadcast early warning prompt information, so that through a variety of expressions of early warning prompt information, it is convenient for dispatching personnel to grasp the environmental quality of the port in a timely manner, which not only improves the operating safety of autonomous driving container trucks, but also ensures the safe operation of ordinary container trucks and / or tugboats, etc., and further ensures the safe operation of the port.

[0044] It should be noted that the above-mentioned port operation dispatching platform 11 can also send equipment control instructions to the vehicle-road cooperative roadside equipment 12 and the road perception control equipment 14 respectively, so as to control the opening or closing of each monitoring device in the vehicle-road cooperative roadside equipment 12 and the road perception control equipment 14 respectively; and the port operation dispatching platform 11 can also dispatch ordinary container trucks, such as receiving information sent by the on-board equipment of ordinary container trucks, etc. Here, the information is generated according to the operation of the operator of the ordinary container truck, and the corresponding control information is generated according to the information. At this time, the operator of the ordinary container truck operates the ordinary container truck according to the control information to realize the dispatch of the ordinary container truck, etc. The specific functions of each part of the above-mentioned port automatic driving container truck teaming system can refer to the prior art for the parts not mentioned above, and the embodiments of the present invention will not be described in detail here.

[0045] The computer program product of the port autonomous driving container truck platooning system provided in the embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the system described in the previous method embodiment. The specific implementation can be found in the above embodiment and will not be repeated here.

[0046] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0048] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0049] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A port autonomous driving container truck teaming system, characterized in that: include: A port operation dispatching platform, a vehicle-road cooperative roadside device, and a plurality of autonomous driving container trucks; wherein the port operation dispatching platform and the plurality of autonomous driving container trucks are both communicatively connected to the vehicle-road cooperative roadside device, and the plurality of autonomous driving container trucks are communicatively connected to each other; The port operation dispatching platform is used to generate a transportation task according to the cargo information and send the transportation task to the VIR roadside equipment; wherein the transportation task includes: the target location of the cargo and the preset number of target autonomous driving container trucks involved in transporting the cargo, and multiple target autonomous driving container trucks are transported in the form of a team; The vehicle-road cooperative roadside equipment is used to obtain the transport task, generate a team control instruction based on the transport task, and send the team control instruction to the autonomous driving container trucks, so that the target autonomous driving container trucks that meet the preset number form a team according to the team control instruction and complete the cargo transportation in the form of a team.

2. The port autonomous driving container truck teaming system according to claim 1 is characterized in that: The autonomous driving container truck is also equipped with on-board equipment; wherein the on-board equipment is communicatively connected with each other; The vehicle-mounted device is also used to obtain the team formation control instruction and automatically form a team according to the team formation control instruction until the number of the target autonomous driving container trucks in the team reaches the preset number.

3. The port autonomous driving container truck teaming system according to claim 2 is characterized in that: The vehicle-mounted device is further used to generate a team formation request according to the team formation control instruction, and send the team formation request to the vehicle-road cooperative roadside device; The vehicle-road cooperative roadside device is also used to obtain the teaming request and send the teaming request to the on-board devices of the remaining autonomous driving container trucks respectively; and obtain the teaming reply information sent by the on-board devices of the remaining autonomous driving container trucks, and generate a teaming strategy including the preset number of target autonomous driving container trucks; send the teaming strategy to the target autonomous driving container trucks, so that multiple target autonomous driving container trucks are teamed according to the teaming strategy.

4. The port autonomous driving container truck teaming system according to any one of claims 1 to 3, characterized in that: The preset number of target autonomous driving container truck teams generates at least one container truck team.

5. The port autonomous driving container truck teaming system according to claim 4, characterized in that: If the container truck fleet includes a first container truck fleet and a second container truck fleet; wherein the number of the target autonomous driving container trucks in the first container truck fleet is equal to the number of the target autonomous driving container trucks in the second container truck fleet.

6. The port autonomous driving container truck teaming system according to claim 2, characterized in that: The vehicle-road cooperative roadside device is also used to obtain the operating parameters of the target autonomous driving container truck sent by the vehicle-mounted device, generate team control parameters according to the operating parameters, and send the team control parameters to the vehicle-mounted device, so that the vehicle-mounted device controls the operation of the target autonomous driving container truck according to the team control parameters; wherein the operating parameters include: operating position and operating speed, and the team control parameters include: team operating direction and team operating speed.

7. The port autonomous driving container truck teaming system according to claim 1, characterized in that: The system further includes a road perception control device; wherein the road perception control device is respectively connected to the port operation dispatching platform and the vehicle-road cooperative roadside device for communication; The road perception control device is used to monitor the road traffic status data of the road on which the autonomous driving container truck is traveling, and send the road traffic status data to the vehicle-road cooperative roadside device; The vehicle-road cooperative roadside equipment is used to obtain the road traffic status data and the vehicle traffic status data of the target autonomous driving container truck, generate traffic status data according to the road traffic status data and the vehicle traffic status data, and send the traffic status data to the port operation scheduling platform; The port operation dispatching platform is used to obtain the traffic status data, and broadcast and / or display the traffic status data.

8. The port autonomous driving container truck teaming system according to claim 7, characterized in that: The road sensing and control equipment is also used to monitor the air quality data of the port and send the air quality data to the port operation and scheduling platform, so that the port operation and scheduling platform generates early warning information based on the air quality data and preset thresholds, and displays and / or broadcasts the early warning information.

9. The port autonomous driving container truck teaming system according to claim 8, characterized in that: The road perception control device is also used to send the air quality data to the vehicle-road cooperative roadside device; The vehicle-road cooperative roadside equipment is also used to send the air quality data to the port operation and scheduling platform, so that the port operation and scheduling platform generates the early warning information according to the air quality data and the preset threshold, and displays and / or broadcasts the early warning information.

10. The port autonomous driving container truck teaming system according to claim 8 or 9, characterized in that: The port operation dispatching platform also includes a display screen and a voice module; wherein the display screen is used to display the early warning prompt information, and the voice module is used to broadcast the early warning prompt information.

Images