Port multi-vehicle simulation scheduling system and method

Abstract

The invention provides a port multi-vehicle simulation scheduling system, and the system comprises a simulation input module which is used for generating a corresponding number of simulation vehicles according to the number of vehicles in simulation parameters after the simulation parameters are verified successfully, starting the simulation vehicles, creating a corresponding number of simulation tasks according to the simulation parameters, and matching the simulation tasks with the simulation vehicles, after the matching is completed, task vehicle information is formed, path planning is performed according to the task vehicle information, and an instruction is issued, so that the task vehicle runs according to the instruction, completes a simulation task, feeds back a task completion signal, and matches a new simulation task for the vehicle according to the task completion signal until all simulation tasks are completed; the electronic map module is used for dynamically displaying the task execution condition and the operation scheduling condition of the simulation vehicle on the port high-precision map; the simulation result display module is used for dynamically displaying simulation result information; and the task management module is used for displaying the vehicle scheduling task information.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to a port multi-vehicle simulation scheduling system and method. Background Art

[0002] With the rapid development of technologies in the fields of autonomous driving and communications, how to improve the dispatching efficiency and operational efficiency of autonomous driving of container trucks in ports under the same conditions and maximize the operational efficiency of container trucks in ports under limited resources has become a new problem. The port simulation dispatching system designed this time can simulate the port dispatching operation process in all scenarios, count and analyze the operation time, and provide decision support for the overall design and optimization of the port operation area.

[0003] The current port dispatching platform simply focuses on the dispatching operation of container trucks, and can only statistically analyze the operational efficiency and dispatching efficiency of port container trucks through multiple actual operations. Some dispatching platforms also have corresponding dispatching simulation functions, but the functions are not perfect. Too many dependent conditions are required to complete a simulation, and the simulation configuration process cannot be customized. There are too few scenarios covered, which only involves the planning of unloading operations, and does not involve task scenarios such as loading and gantry cranes. The order of several unloading tasks needs to be arranged in advance, and the path is only planned according to the optimal time. There is no overall global dispatching control algorithm, and it is not considered based on the overall situation. There is no simulation result evaluation function and it cannot meet actual needs. Summary of the invention

[0004] In view of this, the present invention provides a port multi-vehicle simulation scheduling system and method to solve the technical problems that the prior art cannot simulate real scenes, cannot provide unmanned container truck port scheduling simulation verification, and cannot display simulation results.

[0005] The invention provides a port multi-vehicle simulation scheduling system, the system comprising: a simulation input module, which is used for generating and starting a corresponding number of simulation vehicles according to the number of vehicles in the simulation parameters after the simulation parameter verification is successful, creating a corresponding number of simulation tasks according to the simulation parameters, and matching the simulation tasks with the simulation vehicles, forming task vehicle information after the matching is completed, performing path planning according to the task vehicle information, and issuing instructions so that the task vehicles can run according to the instructions to complete the simulation tasks, and feeding back task completion signals, and matching new simulation tasks for the vehicles according to the task completion signals until all simulation tasks are completed; an electronic map module, which is connected to the simulation input module and is used for dynamically displaying the task execution status and operation scheduling status of the simulation vehicles on the port high-precision map; a simulation result display module, which is connected to the simulation input module and is used for dynamically displaying the simulation result information; and a task management module, which is connected to the simulation input module and is used for displaying the vehicle scheduling task information.

[0006] Further, the electronic map module is further configured to display a list of simulated vehicles and the task operation information, vehicle scheduling information, and vehicle instruction issuing information of the simulated vehicles. The list of simulated vehicles includes the online / offline status of the vehicles, the task operation status of the vehicles, and the remaining power of the vehicles.

[0007] Further, the simulation result information includes the total number of operating vehicles, the total number of simulation tasks, the average time taken for a single scheduling, the number of simulation tasks in progress, the average time taken for pure path planning, the current elapsed time, the number of completed simulation tasks, the number of simulation tasks with scheduling failures, and the number of simulation tasks to be completed.

[0008] Further, the vehicle scheduling task information includes the task number, vehicle number, operation type, operation location, task start and end times, task status, and task source.

[0009] The present invention also provides a method for a port multi-vehicle simulation scheduling system. The method includes: Step 1, after the simulation parameters are successfully verified, generate the corresponding number of simulated vehicles according to the number of vehicles in the simulation parameters and start them; Step 2, create the corresponding number of simulation tasks according to the simulation parameters and match the simulation tasks with the simulated vehicles; Step 3, after the matching is completed, form task vehicle information for scheduling processing; Step 4, perform path planning according to the task vehicle information and issue instructions for the task vehicles to run according to the instructions to complete the simulation tasks; Step 5, feedback a task completion signal, and at the same time display the task execution status, operation scheduling status, simulation result information, and vehicle scheduling task information of the vehicles on the high-precision port map for the staff to analyze and provide a scheduling optimization plan; Step 6, according to the task completion signal, match a new simulation task for the vehicle until all simulation tasks are completed.

[0010] Further, the method further includes: Step 0, set and input the simulation parameters according to the actual scenario data and verify them. If the verification fails, stop the operation and end the process. If the verification is successful, go to Step 1.

[0011] Further, the simulation parameters include: the number of vehicles, the number of simulation tasks, the driving speed of the vehicles during operation, the waiting time for loading / unloading containers, whether to enable automatic following when multiple vehicles are operating, the loading / unloading locations, the loading / unloading areas, and the task concentration degree in the same stack area.

[0012] Further, the method for matching the simulation tasks with the simulated vehicles includes: Step 21, configure the origin and destination of the task and set the number of simulation tasks; Step 22, allocate each simulation task to an idle vehicle according to the origin, destination, and task concentration degree in the same stack area; Step 23, after all the currently set simulation tasks are completed, go to Step 21 for matching the next batch of simulation tasks.

[0013] Further, step 2 further includes: if the simulation task creation fails, stop the operation and end the process.

[0014] Further, the path planning includes: step 41, loading vehicle information, geographical information, execution and decision-making information; step 42, grouping vehicles by region according to vehicle information and geographical information, and marking and filling attributes for the vehicles; step 43, when a vehicle approaches an intersection area, determine whether there is a collaborative intersection according to vehicle information and geographical information; step 44, if there is a collaborative intersection, establish a vehicle rectangle based on the vehicle's longitude, latitude and heading angle, and determine whether the vehicle rectangle intersects with the polygon of the collaborative intersection. If it intersects, mark it; step 45, after each vehicle marks the collaborative intersection, merge and associate the marked information of the collaborative intersection, and re-mark the fence and the vehicle according to the execution and decision-making information, so that multiple vehicles within the collaborative intersection enter and exit the intersection in the marked order.

[0015] The present invention provides a port multi-vehicle simulation scheduling system and method. Based on the existing high-precision map, lane lines, yards, quay cranes, etc. in the port, users can customize the number of vehicles to be operated, the starting positions of the vehicles, the number of loading / unloading container tasks, the task concentration, the vehicle running speed, the waiting time of the vehicle when loading / unloading containers, the number of vehicles corresponding to each batch of tasks, and so on. It can simulate the loading and unloading operation process and operation status of the port operation area, simulate and calculate evaluation indicators such as the loading and unloading operation efficiency, vehicle running distance, waiting time, etc. of different refined solutions and different vehicle configurations in the port operation area, and provide decision-making support for the overall scheme design and optimization of the port operation area. The present invention uses on-site actual data to simulate the operation of vehicles in a real-life scenario in the port, provides simulation verification of the unmanned container truck port scheduling algorithm, verifies the efficiency of the scheduling algorithm, and can verify and test the global scheduling path and scheduling efficiency of the unmanned container truck in the on-site environment. It can evaluate and display the simulation results, and can synchronously store the scheduling plan of this round, which is convenient for use in actual business scenarios, saves energy, improves the port operation efficiency, supports user personalization customization for simulation input, supports batch import, and supports one-key import of the previous simulation setting parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of a port multi-vehicle simulation scheduling system module provided by the present invention; Figure 2 is a schematic diagram of a port multi-vehicle simulation scheduling method flow provided by the present invention; Figure 3 is a schematic diagram of a simulation task and simulated vehicle matching method flow provided by the present invention; Figure 4 is a schematic diagram of an intersection coordination path planning method flow provided by the present invention; Figure 5 It is a schematic diagram showing simulation results provided by the present invention; Figure 6 It is another schematic diagram showing simulation results provided by the present invention; Figure 7 It is another schematic diagram showing simulation results provided by the present invention. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0018] Embodiment of the device item: The present invention provides a multi-vehicle simulation scheduling system for ports, as Figure 1 shown. The system includes a simulation input module, an electronic map module, a simulation result display module, and a task management module.

[0019] The simulation input module is used to, after the simulation parameters are successfully verified, generate the corresponding number of simulated vehicles and start them according to the number of vehicles in the simulation parameters, create the corresponding number of simulation tasks according to the simulation parameters, match the simulation tasks with the simulated vehicles, and after the matching is completed, form task vehicle information. According to the task vehicle information, path planning is performed, and instructions are issued for the task vehicles to run according to the instructions to complete the simulation tasks and feedback task completion signals. According to the task completion signals, new simulation tasks are matched for the vehicle until all simulation tasks are completed. The simulation parameters include: the number of vehicles, the number of simulation tasks, the driving speed of the vehicle during operation, the waiting time for loading / unloading containers, whether to enable automatic following when multiple vehicles are operating, the loading / unloading location, the loading / unloading area, and the task concentration degree in the same stacking area. This module is used to input simulation parameters, and the system performs task scheduling processing according to the input simulation parameters to simulate the operation and scheduling situation of driverless container trucks in a real scenario. The simulation parameters mainly include the following parts: job task volume configuration, job speed configuration, and job distribution configuration. The job task volume configuration is used to set the number of vehicles and the number of TOS (Task-Oriented Simulation) tasks, that is, the number of simulation tasks; the job speed configuration is used to set the driving speed of the vehicle during operation, the waiting time for loading / unloading containers, and whether to enable automatic following when multiple vehicles are operating. The job distribution configuration is used to set the loading / unloading location (stacking area, quay crane, etc.), select and configure the loading / unloading area (configured according to the actual situation of the port, configure the stacking yard, berth number, etc.), and the task concentration degree in the same stacking area (used to configure the concentration problem of TOS tasks in the same stacking area to prevent tasks from being too concentrated).

[0020] An electronic map module, connected to the simulation input module, is used to dynamically display the task execution and operation scheduling of simulated vehicles on the high-precision port map. It displays the list of simulated vehicles and the task running information, vehicle scheduling information, and vehicle command issuing information of the simulated vehicles. The list of simulated vehicles includes the online / offline status of the vehicles, the task operation status of the vehicles, and the remaining battery power of the vehicles. The electronic map can dynamically display the task execution and vehicle operation of the simulated vehicles on the high-precision port map. In the display page, the left side of the page is the list of simulated vehicles, and key information such as the online / offline status of the vehicles, the task operation status of the vehicles, and the remaining battery power of the vehicles is displayed on the list. The details page displays the task running information, vehicle scheduling information, vehicle command issuing information, etc. of the simulated vehicles.

[0021] A simulation result display module, connected to the simulation input module, is used to dynamically display the simulation result information. The simulation result information includes the total number of operating vehicles, the total number of simulation tasks, the average time-consuming of a single scheduling, the number of ongoing simulation tasks, the average time-consuming of pure path planning, the current elapsed time, the number of completed simulation tasks, the number of simulation tasks with scheduling failures, and the number of simulation tasks to be completed. The simulation result display module can display the information of this simulation result, including indicators such as the total number of operating vehicles, the total number of TOS tasks, the average time-consuming of a single scheduling, the number of ongoing TOS tasks, the number of in-progress TOS tasks, the average time-consuming of pure path planning, the current elapsed time, the number of completed TOS tasks, the number of TOS tasks with scheduling failures, and the number of TOS tasks to be completed.

[0022] A task management module, connected to the simulation input module, is used to display the vehicle scheduling task information. The vehicle scheduling task information includes the task number, vehicle number, operation type, operation location, task start and end time, task status, and task source. The task management module can display the vehicle scheduling task information, including key information such as the task number, vehicle number, operation type, operation location, task start and end time, task status, and task source. The details page can display the entire operation process of a single task from receiving the TOS task to completing the execution.

[0023] The present invention provides a port multi-vehicle simulation scheduling system and method. Based on the existing high-precision port map, lane lines, yard, quay cranes, etc. in the port, users can customize the number of vehicles to be operated, the starting positions of the vehicles, the number of loading / unloading container tasks, the task concentration, the vehicle running speed, the waiting time of the vehicle during task loading / unloading, the number of vehicles corresponding to each batch of tasks, and so on. It can simulate the loading / unloading operation process and operation status of the port operation area, simulate and calculate evaluation indicators such as the loading / unloading operation efficiency, vehicle running distance, and waiting time of different refined schemes and different vehicle configurations in the port operation area, and provide decision-making support for the overall scheme design and optimization of the port operation area.

[0024] Method item embodiments: The present invention provides a multi-vehicle simulation scheduling method for ports, as Figure 2 shown, the method includes the following steps.

[0025] Step 0, according to the actual scenario data, set and input simulation parameters, and verify them. If the verification fails, stop the operation and end the process. If the verification is successful, go to Step 1.

[0026] To simulate a full-scale scenario, the present invention can input simulation parameters according to the actual scenario data. If the same simulation scenario as the uploaded one is used, it supports the user to bring in the parameters filled in last time with one key. In addition, it also supports importing simulation parameters from Excel, which is convenient for users to operate.

[0027] Step 1, after the simulation parameter verification is successful, generate the corresponding number of simulated vehicles according to the number of vehicles in the simulation parameters and start them; After the simulation parameter verification is successful, the system will call the gateway service, generate the corresponding number of simulated vehicles according to the number of vehicles in the simulation parameters and start the simulated vehicles. After the simulated vehicles are started, they will be displayed on the electronic map. To be closer to the actual application scenario, the initial positions of the simulated vehicles support custom settings. Users can customize the points on the map in the job task configuration, or input the yard and quay crane numbers to determine the initial positions of each simulated vehicle.

[0028] Step 2, create the corresponding number of simulation tasks according to the simulation parameters, and match the simulation tasks with the simulated vehicles; When it is monitored that the simulated vehicles have been started normally and successfully gone online, the multi-vehicle simulation scheduling system for ports provided by the present invention will create the corresponding number of TOS tasks according to the previously input simulation parameters. The created TOS tasks will contain the necessary information required by the scheduling system. If the task creation fails, the entire process will end. As Figure 3 shown, the method steps for matching the simulation tasks with the simulated vehicles are as follows.

[0029] Step 21, configure the origin and destination of the task, and set the number of simulation tasks; Step 22, allocate each simulation task to the idle vehicles according to the origin, destination, and task concentration degree in the same yard area; Step 23, after all the currently set simulation tasks are completed, go to Step 21 to match the next batch of simulation tasks.

[0030] After the task is successfully created, the tasks are matched with the vehicles according to the task concentration in the same heap area. When selecting the loading and unloading areas, when configuring each loading and unloading area - that is, when configuring the origin and destination of the task, the number of tasks will be set synchronously. When matching idle vehicles with TOS tasks, the tasks can be allocated sequentially according to the number of tasks from the origin to the destination, or can be allocated according to the task concentration. After the first round of TOS task allocation is completed, the automated guided vehicle starts to execute the task. After the execution is completed, the background conducts the second round of TOS task allocation, and so on. After the TOS task is allocated, the task allocation information, task running information, etc. will be synchronously displayed on the simulation result page.

[0031] Step 3, after the matching is completed, the task vehicle information is formed; After the TOS task and the vehicle are successfully matched, the task vehicle information is sent to the system, and the system will perform scheduling processing according to this information.

[0032] Step 4, according to the task vehicle information, path planning is carried out, and instructions are sent down for the task vehicle to run according to the instructions to complete the simulation task; As Figure 4 shown, after the simulation task starts to be processed, the system will perform path planning for the corresponding task according to the actual situation, send instructions to the vehicle, and the vehicle starts to run. After enabling automatic vehicle following, during intersection coordination, the path planning steps are as follows.

[0033] Step 41, load vehicle information, geographical information, execution and decision-making information; Step 42, according to the vehicle information and geographical information, group the vehicles by area, and label and fill the attributes of the vehicles; Step 43, before the vehicle enters the intersection area, judge whether there is a coordinated intersection according to the vehicle information and geographical information; Step 44, if there is a coordinated intersection, establish a vehicle rectangle according to the vehicle's longitude, latitude and heading angle, and judge whether the vehicle rectangle intersects with the polygon of the coordinated intersection. If it intersects, mark it; Step 45, after the marking of each vehicle for the coordinated intersection is completed, merge and associate the coordinated intersection marking information, and re-label the fence and the vehicle according to the execution and decision-making information, so that multiple vehicles within the coordinated intersection enter and exit the intersection in the marked order.

[0034] As can be seen from the above steps, for route planning and vehicle dispatching at a collaborative intersection, necessary data preparation is first carried out, including loading vehicle information, geographical information, execution and decision-making information, identifying entry and exit and grouping vehicles by area, marking vehicles within the area and filling in attributes, and managing data versions. Obtain collaborative intersection information and vehicle-related information, mark data at the vehicle granularity, and perform business validations, including: (1) Meeting the non-marking rule, resetting all marks of the current vehicle and not performing subsequent validations; (2) Validation before entering the conflict area. According to the vehicle-end LaneId and map information, map to the Lane with attributes. Based on the Lane with attributes, find the next-N-Lane to determine whether there are X collaborative intersections, where N is a threshold; (3) Validation within the conflict area. According to the vehicle-end LaneId and map information, map to the Lane with attributes. Meeting the rectangular N threshold of vehicle longitude and latitude + heading angle and intersecting with the polygon of the collaborative intersection, where N is a threshold; (4) After completing the marking of each vehicle for the collaborative intersection, it is necessary to merge and associate the marking information of the collaborative intersection, and re-mark the fence and the vehicle at the granularity of A.a->B.b and B.b->A.a to ensure data alignment for A.a out and B.b in, B.s out and A.a in (intersection-vehicle, vehicle-intersection).

[0035] Step 5: Feedback the task completion signal, and at the same time display the task execution status, operation dispatching status, simulation result information, and vehicle dispatching task information of the vehicle on the port high-precision map for the staff to analyze, and provide a dispatching optimization plan; Based on the displayed simulation results, the staff can provide an optimization plan. For example, for single-bridge operation, optimizing the task assignment sequence and relieving the task concentration can reduce the total operation time; for multi-bridge operation, optimizing the task assignment sequence can significantly optimize the time consumption; for multi-bridge simultaneous operation, appropriately increasing the available vehicles can further reduce the time consumption (when the number of vehicles reaches the number of pipeline nodes), as Figures 5 - 7 shown.

[0036] Step 6: According to the task completion signal, match a new simulation task for the vehicle until all simulation tasks are completed.

[0037] After the task execution is completed, the system will feedback the task completion signal. After receiving the signal, it will continue to match the TOS task for the vehicle and re-execute the process of the previous step.

[0038] In summary, the embodiments of the present invention provide a port multi-vehicle simulation scheduling system and method. This technical solution simulates different types of vehicle operations through the platform, and key items can be configured: operation speed configuration, operation scheduling configuration, intersection cooperation algorithm configuration, and new project map replacement and debugging can be customized and optimized, which greatly improves the development efficiency. The full-process simulation platform end function is used for problem location and new function debugging of the platform end, avoiding real vehicle error correction. This technical solution can also be used for intersection cooperation algorithm analysis, lane-level planning, fixed-point parking hopping, map acquisition, etc. This solution conducts scheduling simulation through quantitative analysis of global scheduling efficiency influencing factors, verification of the optimal number of vehicles for the same batch of operations, and verification of the efficiency of different types of batch tasks. At the same time, it adapts to the new map to adjust the calculation strategy and configuration, improving the efficiency of new project debugging.

[0039] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A port multi-vehicle simulation dispatching system, characterized in that: The system comprises: The simulation input module is used to generate and start the corresponding number of simulation vehicles according to the number of vehicles in the simulation parameters after the simulation parameter verification is successful, create the corresponding number of simulation tasks according to the simulation parameters, and match the simulation tasks with the simulation vehicles. After the matching is completed, the task vehicle information is formed, and the path planning is carried out according to the task vehicle information, and instructions are issued so that the task vehicle can run according to the instructions to complete the simulation task and feedback the task completion signal. According to the task completion signal, a new simulation task is matched for the vehicle until all simulation tasks are completed; The electronic map module is connected to the simulation input module and is used to dynamically display the task execution and operation scheduling of the simulated vehicle on the high-precision map of the port; A simulation result display module, connected to the simulation input module, is used to dynamically display simulation result information; The task management module is connected to the simulation input module and is used to display vehicle scheduling task information.

2. According to claim 1, a port multi-vehicle simulation dispatching system is characterized in that: The electronic map module is also used to display the simulated vehicle list and the simulated vehicle's task operation information, vehicle scheduling information, and vehicle instruction issuance information. The simulated vehicle list includes the vehicle's online and offline status, vehicle task operation status, and vehicle remaining power.

3. According to claim 1, a port multi-vehicle simulation dispatching system is characterized in that: The simulation result information includes the total number of operating vehicles, the total number of simulation tasks, the average time consumed for a single dispatch, the number of ongoing simulation tasks, the average time consumed for simple path planning, the current time consumed, the number of completed simulation tasks, the number of simulation tasks that failed to be dispatched, and the number of simulation tasks to be completed.

4. According to claim 1, a port multi-vehicle simulation dispatching system is characterized in that: The vehicle dispatch task information includes task number, vehicle number, operation type, operation location, task start and end time, task status, and task source.

5. A method using the port multi-vehicle simulation dispatching system according to claims 1-4, characterized in that: The method comprises: Step 1, after the simulation parameters are verified successfully, a corresponding number of simulation vehicles are generated and started according to the number of vehicles in the simulation parameters; Step 2: Create a corresponding number of simulation tasks according to the simulation parameters, and match the simulation tasks with the simulated vehicles; Step 3: After the matching is completed, the task vehicle information is formed for scheduling; Step 4: perform path planning based on the mission vehicle information and issue instructions so that the mission vehicle can run according to the instructions to complete the simulation mission; Step 5: Feedback the task completion signal, and display the vehicle's task execution status, operation scheduling status, simulation result information and vehicle scheduling task information on the port high-precision map for staff to analyze and provide scheduling optimization solutions; Step 6: According to the task completion signal, a new simulation task is matched for the vehicle until all simulation tasks are completed.

6. A port multi-vehicle simulation scheduling method according to claim 5, characterized in that: The method also includes: step 0, setting and inputting simulation parameters according to actual scene data, and verifying them. If the verification fails, the operation is stopped and the process is ended. If the verification succeeds, go to step 1.

7. A port multi-vehicle simulation scheduling method according to claim 5, characterized in that: The simulation parameters include: the number of vehicles, the number of simulation tasks, the driving speed of the vehicle during operation, the waiting time for loading / unloading boxes, whether to turn on automatic following when multiple vehicles are operating, the location of loading and unloading boxes, the loading and unloading area, and the concentration of tasks in the same pile area.

8. A port multi-vehicle simulation scheduling method according to claim 7, characterized in that: The method for matching the simulation task with the simulated vehicle comprises: Step 21, configure the origin and destination of the task, and set the number of simulation tasks; Step 22, assign each simulation task to an idle vehicle according to the origin, destination, and task concentration in the same pile area; Step 23, after all currently set simulation tasks are completed, go to step 21 to match the next batch of simulation tasks.

9. A port multi-vehicle simulation scheduling method according to claim 5, characterized in that: The step 2 also includes: if the simulation task creation fails, stopping the operation and ending the process.

10. A port multi-vehicle simulation scheduling method according to claim 5, characterized in that: The path planning includes: Step 41, loading vehicle information, geographic information, execution and decision information; Step 42, grouping the vehicles by region based on the vehicle information and geographic information, and marking and filling attributes for the vehicles; Step 43, before the vehicle enters the intersection area, determine whether there is a cooperative intersection based on the vehicle information and geographic information; Step 44, if there is a cooperative intersection, establish a vehicle rectangle according to the latitude and longitude of the vehicle and the heading angle, and determine whether the vehicle rectangle intersects with the cooperative intersection polygon. If so, mark it; Step 45, after completing the marking of the coordinated intersection by each vehicle, merge the associated coordinated intersection marking information, and re-mark the fence and the vehicle according to the execution and decision information, so that multiple vehicles in the coordinated intersection enter and exit the intersection in the order of marking.

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