Container truck automatic driving system and method

Abstract

The invention provides a container truck automatic driving system and method. The system comprises a far-end monitoring device which is used for generating a transportation task and a transportation route by using a preset container transportation plan and a map of a port where a container is located; and the vehicle-mounted automatic driving device is mounted on the container truck and is used for receiving the transportation task and the transportation route issued by the remote monitoring device and controlling the container truck to advance based on the transportation route so as to complete the transportation task. According to the scheme, large-scale transformation of infrastructures such as the wharf ground is not needed, and the problems of low transportation efficiency and poor operation reliability caused by manual driving of a container truck can be solved.

Description

This application is a divisional application. The application number of the original application is 2017106422388, and the original application date is July 31, 2017. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0001] The present disclosure relates to the field of autonomous driving, and in particular, to an autonomous driving system and method for container trucks. Background Art

[0002] With the development of the global economic wave, sea transportation carries more than 60% of the world's trade and has always been the leader in transportation with its low cost and large volume. As an important means of connecting sea transportation with other modes of transportation, the throughput of containers is an important evaluation indicator of port capacity, so the transportation efficiency and transportation methods of containers have always attracted much attention from the international community.

[0003] The traditional mode of transportation is mainly to transfer container trucks between suspension bridges and storage yards by manual driving. However, due to the high control accuracy requirements, poor working conditions and monotonous and boring operation, drivers are prone to make mistakes, resulting in the failure of transportation tasks or even safety accidents, affecting the overall transportation efficiency.

[0004] In order to reduce the labor intensity of drivers, relieve manpower pressure, and improve the efficiency of container loading and unloading and the reliability and stability of operations, automation technology has become an important means of concern for various ports and terminals. As early as around 1985, ports in areas with expensive and scarce labor costs conducted relevant research. In 1993, Delta Sealand Container Terminal put into operation the world's first automated container terminal, using AGV (Automatic Guided Vehicle) to transport containers. The disadvantage of this mode of transportation is that it requires large-scale transformation of infrastructure such as the terminal ground, and cannot be used for traditional terminals with mixed human and machine operations; in addition, due to its high degree of customization and low production, the price is often as high as millions, which is not as economical and practical as container trucks. Summary of the invention

[0005] The main purpose of the present disclosure is to provide an automatic driving system and method for container trucks, which does not require large-scale transformation of infrastructure such as dock ground, and can solve the problems of low transportation efficiency and poor operation reliability caused by manual driving of container trucks.

[0006] In order to achieve the above object, the present disclosure provides an automatic driving system for a container truck, the system comprising:

[0007] A remote monitoring device for generating transportation tasks and transportation routes using a preset container transportation plan and a map of the port where the containers are located;

[0008] The on-board automatic driving device installed on the container truck is used to receive the transportation task and the transportation route issued by the remote monitoring device, and control the movement of the container truck based on the transportation route to complete the transportation task.

[0009] Optionally, the remote monitoring device is further used to display the transport task and the transport route to the monitoring personnel, and to modify the transport task and / or the transport route using the adjustment information input by the monitoring personnel.

[0010] Optionally, the vehicle-mounted automatic driving device includes:

[0011] A communication module, used for receiving the transport task and the transport route issued by the remote monitoring device;

[0012] An on-board bus, used to obtain the operating status of the container truck;

[0013] The wire control unit is used to control the container truck through the vehicle bus in combination with the operating status, so that the container truck travels according to the transportation route and completes the transportation task.

[0014] Optionally, the vehicle-mounted automatic driving device further includes:

[0015] An on-board sensor, used to obtain obstacle information of the environment in which the container truck is located;

[0016] A vehicle-mounted positioning device, used to obtain the position information of the container truck;

[0017] An inertial navigation device, used to obtain the running posture and running speed of the container truck;

[0018] The wire control unit is used to adjust the transportation route by using the obstacle information, the position information, the running posture and the running speed, and control the container truck to travel along the adjusted transportation route through the on-board bus.

[0019] Optionally, the vehicle-mounted sensor includes:

[0020] A camera device and / or a laser radar is installed at the front of the container truck and faces the direction of travel, as well as the left and right sides of the direction of travel;

[0021] Millimeter wave, installed on the front of the container truck and facing the direction of travel.

[0022] Optionally, the communication module is further used to upload the obstacle information, the position information, the running posture and the running speed to the remote monitoring device for the remote monitoring device to perform the next step of transportation task analysis.

[0023] Optionally, the communication module is further used to report an abnormality to the remote monitoring device when a change value of the speed and / or the turning angle adjusted by the wire control unit to the container truck is greater than a preset threshold.

[0024] The present disclosure provides a method for automatic driving of a container truck, the method comprising:

[0025] The remote monitoring device generates transportation tasks and transportation routes using the preset container transportation plan and the map of the port where the container is located;

[0026] The vehicle-mounted automatic driving device receives the transport task and the transport route issued by the remote monitoring device;

[0027] The on-board automatic driving device controls the movement of the container truck based on the transportation route to complete the transportation task.

[0028] Optionally, after generating the transport task and the transport route, the method further includes:

[0029] The remote monitoring device displays the transport task and the transport route to the monitoring personnel;

[0030] The remote monitoring device receives the adjustment information input by the monitoring personnel, and uses the adjustment information to modify the transportation task and / or the transportation route;

[0031] Then, the vehicle-mounted automatic driving device receives the transportation task and the transportation route sent by the remote monitoring device, including:

[0032] The vehicle-mounted automatic driving device receives the modified transportation task and transportation route sent by the remote monitoring device.

[0033] Optionally, after the on-vehicle automatic driving device receives the transportation task and the transportation route, the method further includes:

[0034] The on-board automatic driving device obtains obstacle information, position information, running posture and running speed of the container truck;

[0035] The on-vehicle automatic driving device uses the obstacle information, the position information, the operating posture and the operating speed to adjust the transportation route and control the container truck to travel along the adjusted transportation route.

[0036] Optionally, the method further comprises:

[0037] The vehicle-mounted automatic driving device uploads the obstacle information, the position information, the running posture and the running speed to the remote monitoring device for the remote monitoring device to perform the next step of transportation task analysis.

[0038] Optionally, the method further comprises:

[0039] The on-vehicle automatic driving device obtains a change value of the speed and / or turning angle of the container truck;

[0040] Determine whether the change value is greater than a preset threshold;

[0041] If the change value is greater than the preset threshold, the on-vehicle automatic driving device reports the abnormality to the remote monitoring device.

[0042] In the disclosed solution, the remote monitoring device can cooperate with the on-board automatic driving device to realize the automatic driving of the container truck. Specifically, the remote monitoring device uses the container transportation plan and the map of the port where the container is located to generate the transportation task and transportation route, which can be sent to the on-board automatic driving device; the on-board automatic driving device is installed on the container truck, and can control the movement of the container truck based on the received transportation route to complete the transportation task. Such a solution does not require large-scale transformation of infrastructure such as the dock ground, and can solve the problems of low transportation efficiency and poor operation reliability caused by manually driving container trucks.

[0043] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0045] Figure 1 This is a schematic diagram of the structure of the automatic driving system for container trucks disclosed in the present invention;

[0046] Figure 2 This is a flow chart of Example 1 of the automatic driving method for container trucks disclosed herein;

[0047] Figure 3 This is a flow chart of Example 2 of the automatic driving method for container trucks disclosed in the present invention.

[0048] Explanation of the accompanying drawings: 1. Camera device, 2. Millimeter wave, 3. Lidar, 4. Vehicle-mounted positioning device, 5. Communication module, 7. Lidar, 8. Inertial navigation device, 9. Remote monitoring device. DETAILED DESCRIPTION

[0049] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0050] See also Figure 1 , shows a schematic diagram of the structure of the automatic driving system for container trucks according to an embodiment of the present disclosure. The system may include: a remote monitoring device 9 and a vehicle-mounted automatic driving device. The two cooperate with each other to realize automatic driving of container trucks, which does not require large-scale transformation of infrastructure such as dock ground, and can solve the problems of low transportation efficiency and poor operation reliability caused by manual driving of container trucks.

[0051] As an example, the remote monitoring device and the onboard automatic driving device can communicate one-to-one; or, they can communicate one-to-many, that is, one remote monitoring device can communicate with multiple onboard automatic driving devices to control multiple container trucks to achieve automatic driving. The disclosed solution does not limit this, and the specific setting can be combined with actual application requirements.

[0052] As an example, the remote monitoring device and the on-board automatic driving device can communicate wirelessly, and the present disclosure does not make any specific limitations on this.

[0053] As an example, the remote monitoring device in the disclosed solution can be embodied as a computer. The computer can obtain the container transportation plan and the map of the port where the container is located. When it is necessary to control the container truck to achieve automatic driving, the transportation task and transportation route can be generated based on the container transportation plan and the map of the port where the container is located. The disclosed solution does not limit the process of generating transportation tasks and transportation routes. The specific implementation can refer to related technologies such as path planning, which will not be described in detail here.

[0054] It is understandable that the remote monitoring device can save multiple container transportation plans and multiple port maps locally, and when necessary, match the corresponding container transportation plan and port map according to the container truck to be controlled to generate transportation tasks and transportation routes. Alternatively, the container transportation plan and port map can be saved in a third-party server, and when necessary, the remote monitoring device can match and read the corresponding container transportation plan and port map from the server according to the container truck to be controlled to generate transportation tasks and transportation routes. The disclosed solution does not specifically limit the way in which the remote monitoring device obtains the container transportation plan and port map. As an example, the port map can be a 3D digital map.

[0055] In actual application, the remote monitoring device may include: a display, a human-computer interaction module, a communication module, and a computing unit. In this way, after the computing unit generates the transport task and the transport route, it can be displayed to the monitoring personnel through the display. If the monitoring personnel find that there are areas that need to be optimized, they can input adjustment information through the human-computer interaction module, modify the transport task and / or the transport route, and then send the modified transport task and transport route to the vehicle-mounted automatic driving device through the communication module. Conversely, if there is no area that needs to be optimized, the monitoring personnel can input confirmation information through the human-computer interaction module to trigger the communication module to send the generated transport task and transport route to the vehicle-mounted automatic driving device.

[0056] The on-board automatic driving device in the disclosed solution can be installed on a container truck, and control the movement of the container truck based on the transportation route sent by the remote monitoring device to complete the transportation task.

[0057] As an example, see Figure 1 As shown in the schematic diagram, the vehicle-mounted automatic driving device may include: a communication module 5, a vehicle-mounted bus (not shown in the figure), and a line control unit (not shown in the figure). In this way, after the communication module 5 receives the transportation task and transportation route issued by the remote monitoring device 9, the line control unit can obtain the operating status of the container truck through the vehicle-mounted bus, for example, the throttle, brake, steering, braking, gear and other information of the container truck, and use the operating status as the initial state of the container truck to feedback control the entire vehicle, that is, obtain the adjusted operating status of the container truck through the vehicle-mounted bus in real time. If the container truck can travel according to the transportation route, the adjusted operating status is maintained unchanged, otherwise the entire vehicle is continued to be controlled through the vehicle-mounted bus until the container truck travels according to the transportation route.

[0058] As an example, the wire control unit in the disclosed solution can be embodied as a vehicle control unit (VCU). The process of the wire control unit controlling the vehicle through the vehicle bus can be implemented by referring to related technologies and will not be described in detail here.

[0059] In actual application, in order to improve the safety and reliability of the container truck automatic driving, the on-board automatic driving device can also adjust the transportation route issued by the remote monitoring device 9 in real time in combination with the actual driving situation, and control the container truck to travel according to the adjusted transportation route. Figure 1 As shown in the schematic diagram, the vehicle-mounted automatic driving device may also include: a vehicle-mounted sensor, a vehicle-mounted positioning device 4, and an inertial navigation device 8.

[0060] Specifically, the obstacle information of the environment in which the container truck is located can be obtained through the on-board sensor; the location information of the container truck can be obtained through the on-board positioning device 4; and the running posture and running speed of the container truck can be obtained through the inertial navigation device 8. In this way, the line control unit can determine the surrounding situation of the current container truck, that is, the state and change trend of the surrounding objects through the obstacle information, location information, running posture and running speed, and then determine the next operation strategy of the container truck according to the surrounding situation to adjust the transportation route. It can be seen from the actual application requirements that the operation strategy in the disclosed scheme can be following the vehicle, overtaking, changing lanes, etc. As an example, after the line control unit obtains the surrounding situation, it can determine the next route planning through search algorithms such as A* to adjust the transportation route. Such a scheme can improve the transportation efficiency of container trucks while also improving the transportation safety and reliability of container trucks.

[0061] As an example, the vehicle-mounted positioning device 4 can be installed on the front of a container truck or on a trailer, for example, Figure 1 As shown, it is preferably installed on the top of the front of the vehicle. As an example, the vehicle-mounted positioning device 4 can be embodied as a differential GPS reference station and a mobile station; or, the vehicle-mounted positioning device 4 can be embodied as a UWB (English: Ultra Wideband, Chinese: Ultra Wideband) device, which is not specifically limited in the disclosed solution.

[0062] As an example, the inertial navigation device 8 can be installed on the front of the container truck or the trailer, for example, it can be preferably installed on the front of the truck and facing one of the left and right sides of the traveling direction, such as Figure 1 As shown, the inertial navigation device 8 is installed on the left side of the front of the vehicle facing the traveling direction.

[0063] As an example, the on-board sensors may include: a camera and / or a laser radar, which is installed on the front of the container truck and faces the direction of travel, as well as the left and right sides of the direction of travel; and a millimeter wave, which is installed on the front of the container truck and faces the direction of travel. In other words, in order to obtain the surrounding environment of the container truck, the on-board sensors should collect obstacle information in the three directions of the front, left and right sides of the container truck.

[0064] For example, vehicle sensors can be Figure 1 As shown, it includes: a camera device 1, a millimeter wave 2, and a laser radar 3 for collecting obstacle information in front of the container truck; a laser radar 7 for collecting obstacle information on the left side of the container truck; and a laser radar (not shown in the figure) for collecting obstacle information on the right side of the container truck.

[0065] As an example, the obstacle information in the solution of the present disclosure may include the size of the obstacle, the position of the obstacle relative to the container truck, the movement speed of the obstacle, etc.

[0066] As an example, after obtaining the position information of the container truck through the vehicle-mounted positioning device 4 and the running posture and running speed of the container truck through the inertial navigation device 8, in order to further improve the data accuracy, point cloud feature points can be extracted from the information obtained by the laser radar and image feature points can be extracted from the information obtained by the camera device 1, and then the above-mentioned position information, running posture and running speed can be corrected and verified by using methods such as feature matching and Kalman filtering.

[0067] As an example, in actual application, the vehicle-mounted automatic driving device can also upload obstacle information, position information, running posture and running speed to the remote monitoring device 9 through the communication module 5, and the remote monitoring device 9 performs the next transportation task analysis based on the above information.

[0068] For example, the next transport task may be that after the current transport task is completed, the remote monitoring device 9 generates the next transport task and the corresponding transport route based on the surrounding situation of the container truck, the container transport plan, and the port map.

[0069] For example, the next transport task can be that when the current transport task is not completed, the remote monitoring device 9 shows the surrounding situation of the container to the monitoring personnel, and then determines whether to continue the automatic driving by the on-board automatic driving device, or the remote remote control driving by the monitoring personnel, or the manual driving by the container truck driver according to the driving information input by the monitoring personnel. For example, the surrounding situation can indicate that there are other vehicles in the same lane, that is, there is a traffic jam, and the remote monitoring device 9 can resolve the conflict. Such a solution can be combined with actual application needs to select a suitable driving solution, which helps to improve the driving flexibility of the disclosed solution.

[0070] As an example, the priorities of the three driving modes can be set as: manual driving has the highest priority, remote control driving has the second highest priority, and automatic driving has the lowest priority. The present disclosure does not make any specific limitations on this.

[0071] As an example, in actual application, the on-board automatic driving device can also monitor in real time whether the container truck has any abnormality during the automatic driving process. If an abnormality occurs, the abnormality can be reported to the remote monitoring device 9 through the communication module 5. When an abnormality occurs, the container truck can be controlled to make an emergency stop; or relevant personnel can take over the container truck in time through remote control driving, manual driving, etc. to ensure the safety of container transportation operations.

[0072] As an example, if the change in speed and / or turning angle of the container truck adjusted by the wire control unit is greater than a preset threshold, it can be determined that an abnormality has occurred during the automatic driving process, and the abnormality can be reported to the remote monitoring device 9 through the communication module 5.

[0073] See also Figure 2 , showing a flow chart of embodiment 1 of the automatic driving method for container trucks disclosed in the present invention, which may include:

[0074] S101, the remote monitoring device generates a transportation task and a transportation route using a preset container transportation plan and a map of the port where the container is located.

[0075] S102, the vehicle-mounted automatic driving device receives the transportation task and the transportation route issued by the remote monitoring device.

[0076] S103, the on-vehicle automatic driving device controls the movement of the container truck based on the transportation route to complete the transportation task.

[0077] An on-board automatic driving device can be installed on the container truck, and communication can be established between the on-board automatic driving device and the remote monitoring device. In this way, when it is necessary to control the automatic driving of the container truck, the remote monitoring device can generate the transportation task and transportation route, and send it to the on-board automatic driving device. The on-board automatic driving device controls the container truck to move along the transportation route to complete the transportation task. The specific implementation process can be found in the introduction above and will not be repeated here. Such a solution does not require large-scale transformation of infrastructure such as the dock ground, and can also solve the problems of low transportation efficiency and poor operation reliability caused by manually driven container trucks.

[0078] Optionally, after generating the transport task and the transport route, the method further includes: the remote monitoring device displays the transport task and the transport route to the monitoring personnel; the remote monitoring device receives the adjustment information input by the monitoring personnel, and uses the adjustment information to modify the transport task and / or the transport route. Correspondingly, the on-board automatic driving device receives the transport task and the transport route issued by the remote monitoring device, including: the on-board automatic driving device receives the modified transport task and transport route issued by the remote monitoring device.

[0079] Optionally, after the on-board automatic driving device receives the transport task and the transport route, the method further includes: the on-board automatic driving device obtains obstacle information, position information, operating posture and operating speed of the container truck; the on-board automatic driving device uses the obstacle information, the position information, the operating posture and the operating speed to adjust the transport route, and controls the container truck to travel along the adjusted transport route.

[0080] In combination with the above introduction, the present disclosure also provides the following container truck automatic driving method embodiment 2. For details, please refer to Figure 3 The flowchart shown may include:

[0081] S201, the remote monitoring device obtains the container transportation plan and port map corresponding to the container truck to be controlled, and uses the two to generate a transportation task and a transportation route.

[0082] S202, the remote monitoring device displays the generated transportation tasks and transportation routes to the monitoring personnel.

[0083] S203, the remote monitoring device receives the information input by the monitoring personnel: if it is adjustment information, the adjustment information can be used to modify the transportation task and / or transportation route, and then S204 is executed; if it is confirmation information, S204 can be directly executed.

[0084] S204, the remote monitoring device sends the transport task and transport route to the vehicle-mounted automatic driving device. It can be understood that, according to the information input by the monitoring personnel, the transport task and transport route sent may be a modified one, or may be the transport task and transport route generated in S201, which may be determined by the actual application situation.

[0085] S205, after receiving the transport task and transport route, the on-board automatic driving device can obtain the obstacle information, position information, running posture and running speed of the container truck, and adjust the transport route in real time based on the above information.

[0086] S206, the on-board automatic driving device controls the container truck to move along the adjusted transportation route to complete the transportation task.

[0087] As an example, after obtaining obstacle information, location information, running posture and running speed in S205, the vehicle-mounted automatic driving device can also upload the above information to the remote monitoring device for the remote monitoring device to perform the next transportation task analysis. The specific process can be found in the above introduction and will not be repeated here.

[0088] As an example, when controlling the movement of a container truck, the on-board automatic driving device can also obtain the change value of the speed and / or turning angle of the container truck in real time; determine whether the change value is greater than a preset threshold; if the change value is greater than the preset threshold, the on-board automatic driving device reports the abnormality to the remote monitoring device. The specific process can also be found in the above description, which will not be repeated here.

[0089] In combination with the above introduction, the advantages of the disclosed solution are explained below.

[0090] 1. The autonomous driving achieved by the cooperation of the remote monitoring device and the on-board autonomous driving device not only improves the transportation efficiency, but also does not require large-scale transformation of infrastructure such as the dock ground, and is compatible with ordinary container trucks. When installing the on-board autonomous driving device on a container truck, the transformation and installation are simple and easy, low-cost, and will not damage the functions and performance of the original vehicle.

[0091] 2. The remote monitoring device can generate a transportation route using the container transportation plan and the map of the port where the container is located. In addition, the on-board automatic driving device can also adjust the transportation route based on the surrounding situation of the container truck. In other words, when the surrounding situation has not changed, the on-board automatic driving device can directly control the container truck to move according to the generated transportation route; when the surrounding situation changes, the on-board automatic driving device can control the container truck to move according to the adjusted transportation route. This can improve the transportation safety and reliability of container trucks.

[0092] 3. The disclosed solution can set driving modes of different priorities, and can switch between automatic driving, remote control driving, and manual driving according to actual application needs, thereby improving driving flexibility.

[0093] 4. The automatic driving achieved by the disclosed solution is not restricted by factors such as weather and operation time, and can carry out transportation operations continuously without interruption, thereby improving the efficiency of container transportation.

[0094] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0095] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0096] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An automatic driving system for container trucks, characterized in that: The system comprises: A remote monitoring device is used to match a container transportation plan and a port map corresponding to the container truck from a plurality of preset container transportation plans and a plurality of port maps according to the container truck, and generate a transportation task and a transportation route; the plurality of container transportation plans and the plurality of port maps are stored in the remote monitoring device or a third-party server; An on-board automatic driving device installed on the container truck is used to receive the transportation task and the transportation route issued by the remote monitoring device, and control the movement of the container truck based on the transportation route to complete the transportation task; The vehicle-mounted automatic driving device includes a communication module, and the communication module is used to upload first information monitored by the vehicle-mounted automatic driving device to the remote monitoring device, where the first information includes obstacle information, position information, running posture and running speed around the container truck; The remote monitoring device is further used to determine the surrounding situation of the container truck based on the first information; The remote monitoring device is also used to generate a next transportation task when the current transportation task is completed based on the surrounding situation of the container truck, the multiple container transportation plans and the multiple port maps.

2. The system according to claim 1, characterized in that The remote monitoring device is also used to display the transport task and the transport route to the monitoring personnel, and to modify the transport task and / or the transport route using the adjustment information input by the monitoring personnel.

3. The system according to claim 1, characterized in that The vehicle-mounted automatic driving device comprises: A communication module, used for receiving the transport task and the transport route issued by the remote monitoring device; An on-board bus, used to obtain the operating status of the container truck; The line control unit is used to control the container truck through the vehicle bus in combination with the operating status, so that the container truck travels according to the transportation route and completes the transportation task.

4. The system according to claim 3, characterized in that The vehicle-mounted automatic driving device also includes: An on-board sensor, used to obtain obstacle information of the environment in which the container truck is located; A vehicle-mounted positioning device, used to obtain the position information of the container truck; An inertial navigation device, used to obtain the running posture and running speed of the container truck; The wire control unit is used to adjust the transportation route by using the obstacle information, the position information, the running posture and the running speed, and control the container truck to travel along the adjusted transportation route through the on-board bus.

5. The system according to claim 4, characterized in that The vehicle-mounted sensor comprises: A camera device and / or a laser radar is installed at the front of the container truck and faces the direction of travel, as well as the left and right sides of the direction of travel; Millimeter wave, installed on the front of the container truck and facing the direction of travel.

6. The system according to any one of claims 3 to 5, characterized in that: The communication module is further configured to report an abnormality to the remote monitoring device when a change in the speed and / or the turning angle adjusted by the wire control unit to the container truck is greater than a preset threshold.

7. A method for automatically driving a container truck, characterized in that: The method comprises: The remote monitoring device matches the container truck with a container transportation plan and a port map corresponding to the container truck from a plurality of preset container transportation plans and a plurality of port maps, and generates a transportation task and a transportation route; the plurality of container transportation plans and the plurality of port maps are stored in the remote monitoring device or a third-party server; The vehicle-mounted automatic driving device receives the transport task and the transport route issued by the remote monitoring device; The on-board automatic driving device controls the container truck to move based on the transportation route to complete the transportation task; The on-board automatic driving device uploads first information monitored by the on-board automatic driving device to the remote monitoring device, where the first information includes obstacle information, position information, running posture and running speed around the container truck; The remote monitoring device receives the first information, and determines the surrounding situation of the container truck based on the first information; When the current transport task is finished, the remote monitoring device generates the next transport task according to the surrounding situation of the container truck, the multiple container transport plans and the multiple port maps.

8. The method according to claim 7, characterized in that After generating the transport task and the transport route, the method further includes: The remote monitoring device displays the transport task and the transport route to the monitoring personnel; The remote monitoring device receives the adjustment information input by the monitoring personnel, and uses the adjustment information to modify the transportation task and / or the transportation route; Then, the vehicle-mounted automatic driving device receives the transportation task and the transportation route sent by the remote monitoring device, including: The vehicle-mounted automatic driving device receives the modified transportation task and transportation route sent by the remote monitoring device.

9. The method according to claim 7, characterized in that: After the on-vehicle automatic driving device receives the transportation task and the transportation route, the method further includes: The on-board automatic driving device obtains obstacle information, position information, running posture and running speed of the container truck; The on-vehicle automatic driving device uses the obstacle information, the position information, the operating posture and the operating speed to adjust the transportation route and control the container truck to travel along the adjusted transportation route.

10. The method according to any one of claims 7 to 9, characterized in that: The method further comprises: The on-vehicle automatic driving device obtains a change value of the speed and / or turning angle of the container truck; Determine whether the change value is greater than a preset threshold; If the change value is greater than the preset threshold, the on-vehicle automatic driving device reports the abnormality to the remote monitoring device.

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