Four-way vehicle scheduling method and system for intelligent warehouse

Abstract

The present application relates to the technical field of logistics warehousing scheduling, in particular to a four-way vehicle scheduling method and system for intelligent warehouse. The method comprises the following steps: receiving order information, taking the current position of the four-way vehicle as the starting point, analyzing the order information, taking the storage location of the goods to be transported as the intermediate point, and taking the transportation outlet as the terminal point; constructing the driving path of the four-way vehicle in the order of the starting point, the intermediate point and the terminal point; calculating the occupancy time of the four-way vehicle in the driving path based on the driving speed of the four-way vehicle, judging whether the driving path of the four-way vehicle coincides with the driving path of other four-way vehicles within the occupancy time; and scheduling the driving path of the four-way vehicle based on the priority in the order information. In the scheduling, the four-way vehicle is scheduled according to the priority of the order information, which can avoid the delay of key tasks caused by low-priority vehicles occupying the path. It can also balance the overall throughput of the warehousing system and avoid resource waste caused by "one-size-fits-all" avoidance.

Description

Technical Field

[0001] This invention relates to the field of logistics and warehousing scheduling technology, and in particular to a four-way vehicle scheduling method and system for intelligent warehouses. Background Technology

[0002] Four-way vehicles offer high speed and storage density, improving logistics efficiency and space utilization while significantly saving manpower and warehouse space. They are also highly flexible and easily expandable. With the continuous development of communication technology, four-way vehicles can make timely route adjustments based on instructions to avoid collisions with other four-way vehicles during operation.

[0003] In existing technologies, when a collision is possible with a four-way vehicle, one or more of the vehicles about to collide are typically moved to a safe distance and wait. Only after the preceding vehicle has passed the collision point do they resume their original path. However, for four-way vehicles already loaded with goods, due to the high static friction of stationary objects, the motor needs to provide more power to drive the wheels and overcome greater friction when restarting in the safe distance. This means the motor needs to overcome additional friction, increasing its workload and potentially negatively impacting its lifespan over prolonged use. Furthermore, four-way vehicles require a certain amount of time to start, similar to an airplane needing to accelerate before takeoff. While this start-up time may seem short, it can become a bottleneck in the efficiency-driven environment of logistics and warehousing. Similarly, when a four-way vehicle restarts after a collision, just as a vehicle needs time to accelerate to its normal speed after a traffic light turns green, the speed of goods handling is affected. Therefore, improving the efficiency and reliability of four-way vehicles in logistics transportation is a pressing issue. Summary of the Invention

[0004] To address the aforementioned shortcomings, the present invention aims to propose a four-way vehicle scheduling method and system for intelligent warehouses, thereby solving the problems of low operating efficiency and low stability of four-way vehicles in logistics transportation.

[0005] To achieve this objective, the present invention adopts the following technical solution: a four-way vehicle scheduling method for an intelligent warehouse, comprising the following steps:

[0006] Step S1: Receive order information, take the current position of the four-way vehicle as the starting point, parse the order information, take the storage location of the goods to be transported as the intermediate point, and the transport exit as the endpoint;

[0007] Step S2: Construct the four-way driving path of the vehicle in the order of the starting point, intermediate point, and ending point;

[0008] Step S3: Calculate the time the four-way vehicle occupies in the travel path based on the travel speed of the four-way vehicle, and determine whether the travel path of the four-way vehicle overlaps with the travel path of other four-way vehicles during the time it occupies.

[0009] If there is overlap, the driving path of the four-way vehicle will be scheduled based on the priority in the order information.

[0010] Preferably, the driving path includes a first path and a second path, wherein the first path is the path from the starting point to the intermediate point, and the second path is the path from the intermediate point to the destination.

[0011] Before scheduling the travel routes of four-way vehicles based on the priority in the order information, the following steps need to be performed:

[0012] Step A: Determine whether the overlapping driving paths only contain the second path. If they only contain the second path, schedule the driving paths of the four-way vehicles based on priority.

[0013] If the second path is not included, the overlapping paths in the first path are obtained as debugging paths. The transit time of the four-way vehicles passing through the debugging paths is obtained as the first time period. The four-way vehicles are sorted according to the order of the first time period of entering the debugging path to obtain the four-way vehicle sequence. The driving speed of the four-way vehicles in the four-way vehicle sequence is adjusted, and step S3 is re-executed.

[0014] Preferably, the steps for adjusting the driving speed of the four-way vehicles within the four-way vehicle sequence are as follows:

[0015] Obtain the time difference between the times when adjacent four-way vehicles enter the debugging path in the four-way vehicle sequence, and determine whether the time difference is greater than the time threshold. If the time difference is greater than the time threshold, then no adjustment is made to the four-way vehicles.

[0016] If the time difference is not greater than the time threshold, then the last four-way vehicle with a time difference greater than the time threshold is selected as the adjustment group. The sequence from the first four-way vehicle in the four-way vehicle sequence to the length of the adjustment group is extracted, and the adjustment sequence is reconstructed.

[0017] In the adjustment sequence, the speed of the four-way vehicle is increased in an incremental manner.

[0018] Preferably, the specific steps for increasing the driving speed of the four-way vehicle in an incremental manner are as follows:

[0019] Obtain the speed difference between the first four-way vehicle speed and the maximum safe driving speed in the adjustment sequence;

[0020] Obtain the number of four-way vehicles in the adjustment sequence as the first quantity;

[0021] The speed adjustment base is obtained based on the first quantity and the speed difference;

[0022] The speed of the four-way vehicle in the adjustment sequence is increased in an incremental manner from large to small, with each increment being the adjustment base number.

[0023] Preferably, the method for constructing the driving path is to use a greedy algorithm to construct the path with the shortest time as the driving path, and the path with the second shortest time as the suboptimal path.

[0024] Preferably, the priority in step S3 is calculated as follows:

[0025] ;

[0026] ;

[0027] ;

[0028] ;

[0029] in and As weight, and Let represent the completion time of the i-th four-way vehicle's current second path and the completion time of the four-way vehicle's second-best path, respectively. Let be the transport time for the j-th item in the i-th four-way vehicle, and n be the quantity of items in the order information. and Let represent the congestion level of the i-th four-way vehicle's current second path and the congestion level of the four-way vehicle's second-best path, respectively. The penalty for the delay of the j-th cargo in the i-th direction vehicle. This is the coefficient for the delayed penalty.

[0030] Preferably, the four-way vehicle that collides on the second path is identified and marked as the first four-way vehicle;

[0031] Obtain the priority of the first four-way vehicle respectively. The first four-way vehicle with the highest priority is not adjusted, while the first four-way vehicle with the lower priority takes the second-best path as its driving path and re-executes step S3.

[0032] A four-way vehicle scheduling system for an intelligent warehouse, using the aforementioned four-way vehicle scheduling method for an intelligent warehouse, includes a receiving module, a path construction module, and an adjustment module;

[0033] The receiving module is used to receive order information, taking the current position of the four-way vehicle as the starting point, parsing the order information, taking the storage location of the goods to be transported as the intermediate point, and the transport exit as the endpoint;

[0034] The path building module is used to construct the driving path of a four-way vehicle in the order of start point, intermediate point, and end point;

[0035] The adjustment module is used to calculate the time the four-way vehicle occupies in the driving path based on the driving speed of the four-way vehicle, and to determine whether the driving path of the four-way vehicle overlaps with the driving distance of other four-way vehicles during the occupancy time.

[0036] If there is overlap, the driving path of the four-way vehicle will be scheduled based on the priority in the order information.

[0037] One of the above technical solutions has the following advantages or beneficial effects: This invention handles four-way vehicles through scheduling adjustments, avoiding vehicle waiting and thus reducing start-up delays caused by yielding, maintaining the smooth flow of four-way vehicles, and significantly improving overall logistics efficiency. During scheduling, four-way vehicles are scheduled according to the priority of order information, which avoids delays in critical tasks caused by low-priority vehicles occupying paths. This differentiated scheduling strategy not only improves faster order response but also balances the overall throughput of the warehousing system, avoiding resource waste caused by a "one-size-fits-all" yielding approach. Attached Figure Description

[0038] Figure 1 This is a flowchart of an embodiment of the method of the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of one embodiment of the system of the present invention. Detailed Implementation

[0040] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] like Figures 1-2 As shown, a four-way vehicle scheduling method for an intelligent warehouse includes the following steps:

[0044] Step S1: Receive order information, take the current position of the four-way vehicle as the starting point, parse the order information, take the storage location of the goods to be transported as the intermediate point, and the transport exit as the endpoint;

[0045] Step S2: Construct the four-way driving path of the vehicle in the order of the starting point, intermediate point, and ending point;

[0046] Step S3: Calculate the time the four-way vehicle occupies in the travel path based on the travel speed of the four-way vehicle, and determine whether the travel path of the four-way vehicle overlaps with the travel path of other four-way vehicles during the time it occupies.

[0047] If there is overlap, the driving path of the four-way vehicle will be scheduled based on the priority in the order information.

[0048] When the travel paths of four-way vehicles overlap during their journey, a collision may occur. Traditionally, this is handled by adjusting the four-way vehicle to a clearing space, allowing the other four-way vehicle to pass, and then having to clear the other four-way vehicle again. This traditional avoidance strategy requires the four-way vehicles to remain stationary before the collision point. However, when loading cargo, the static friction is high, and restarting the motor requires overcoming additional resistance. Furthermore, prolonged high-load operation can shorten the motor's lifespan. Therefore, this invention first makes a prediction by calculating the time the travel path is occupied, specifically determining whether the four-way vehicle's travel path overlaps with that of other four-way vehicles within that timeframe. For example, if vehicle A occupies the A→B route from 10:00 to 10:03, while vehicle B occupies the A→B route from 10:01 to 10:04, it is determined that the routes overlap. When routes overlap, a collision may occur. In this case, the invention will handle the four-way vehicles through scheduling adjustments to avoid vehicles waiting at a standstill, thereby reducing start-up delays caused by avoidance, maintaining the smooth flow of four-way vehicles, and significantly improving overall logistics efficiency. During scheduling, four-way vehicles are scheduled according to the priority of order information, which can avoid delays in critical tasks caused by low-priority vehicles occupying routes. This differentiated scheduling strategy not only improves faster order response but also balances the overall throughput of the warehousing system, avoiding resource waste caused by a "one-size-fits-all" avoidance approach.

[0049] Preferably, the driving path includes a first path and a second path, wherein the first path is the path from the starting point to the intermediate point, and the second path is the path from the intermediate point to the destination.

[0050] Before scheduling the travel routes of four-way vehicles based on the priority in the order information, the following steps need to be performed:

[0051] Step A: Determine whether the overlapping driving paths only contain the second path. If they only contain the second path, schedule the driving paths of the four-way vehicles based on priority.

[0052] If the second path is not included, the overlapping paths in the first path are obtained as debugging paths. The transit time of the four-way vehicles passing through the debugging paths is obtained as the first time period. The four-way vehicles are sorted according to the order of the first time period of entering the debugging path to obtain the four-way vehicle sequence. The driving speed of the four-way vehicles in the four-way vehicle sequence is adjusted, and step S3 is re-executed.

[0053] In the control of four-way vehicles, a constant speed is typically used to control their movement to ensure safe operation. To accelerate the operation of the four-way vehicle and improve transport efficiency, this invention separates the first path and the second path, applying different adjustments to the four-way vehicle.

[0054] In the second path, since the four-way vehicle is carrying goods, adjusting its speed could easily cause the goods to fall off or be damaged. Therefore, when the overlapping travel paths only include the second path, the speed of the four-way vehicle on the second path cannot be changed to allow the four-way vehicle to avoid obstacles. Therefore, this invention adjusts the four-way vehicle on the second path by prioritizing it to ensure the completion of the order.

[0055] In the first path, since the four-way vehicles are not yet loaded with goods, their control is safer. Therefore, if the overlapping travel routes not only include the second path, it indicates that there are overlapping routes in the first path. In this case, the overlapping routes in the first path are obtained as the debugging path. The first time period for each four-way vehicle is obtained in the debugging path, and then the travel speed of the four-way vehicles is adjusted according to the order of the first time period. For example, if the time periods for four-way vehicles A, B, C, and D to reach the debugging path are 10:30~10:35, 10:33~10:38, 10:27~10:32, and 10:29~10:34 respectively, then the four-way vehicle sequence is: four-way vehicle C → four-way vehicle D → four-way vehicle A → four-way vehicle B. Adjusting the order ensures that the four vehicles enter the intermediate point in the same order, guaranteeing that the ordered goods are loaded in sequence. Since the driving speed was adjusted in the first path, the time for the second path will change. Therefore, step S3 needs to be executed again to recalculate the occupancy time of the four vehicles and determine if the paths overlap, ensuring that the adjusted plan still has no conflicts.

[0056] Preferably, the steps for adjusting the driving speed of the four-way vehicles within the four-way vehicle sequence are as follows:

[0057] Obtain the time difference between the times when adjacent four-way vehicles enter the debugging path in the four-way vehicle sequence, and determine whether the time difference is greater than the time threshold. If the time difference is greater than the time threshold, then no adjustment is made to the four-way vehicles.

[0058] If the time difference is not greater than the time threshold, then the last four-way vehicle with a time difference greater than the time threshold is selected as the adjustment group. The sequence from the first four-way vehicle in the four-way vehicle sequence to the length of the adjustment group is extracted, and the adjustment sequence is reconstructed.

[0059] In the adjustment sequence, the speed of the four-way vehicle is increased in an incremental manner.

[0060] When adjusting the driving speed, the system checks whether the time difference between the entry points of adjacent four-way vehicles into the test path is greater than a time threshold. If it is greater than the time threshold, the probability of a collision between adjacent four-way vehicles is very low. If the time difference is less than the time threshold, the probability of a collision between adjacent four-way vehicles is very high, and the driving speed needs to be adjusted. If the time difference is greater than the time threshold, no adjustment is made to the four-way vehicles.

[0061] When at least one time difference exceeds a time threshold, the speed of the four-way vehicles needs to be adjusted. During adjustment, the last four-way vehicle with a time difference exceeding the time threshold is designated as the adjustment group. Taking the above embodiment as an example, if one minute is used as the time threshold, then the time between 10:29 for four-way vehicle D and 10:30 for four-way vehicle A is less than or equal to the time threshold, and there is only one such group. In this case, four-way vehicle A is designated as the adjustment group. Then, the sequence from the first four-way vehicle in the four-way vehicle sequence to the length of the adjustment group is extracted. This yields the adjustment sequence of four-way vehicle C → four-way vehicle D → four-way vehicle A. The speed of the four-way vehicles in the adjustment sequence is increased incrementally.

[0062] If only the speed of the four-way vehicle D is increased, it may cause a collision between the four-way vehicle D and the four-way vehicle A. In order to prevent the four-way vehicles in front from colliding, the four-way vehicles in the adjustment sequence are adjusted in an incremental manner in this invention to ensure that the adjusted scheme is still conflict-free and to ensure that the order in which the four-way vehicles enter the middle point remains consistent.

[0063] Preferably, the specific steps for increasing the driving speed of the four-way vehicle in an incremental manner are as follows:

[0064] Obtain the speed difference between the first four-way vehicle speed and the maximum safe driving speed in the adjustment sequence;

[0065] Obtain the number of four-way vehicles in the adjustment sequence as the first quantity;

[0066] The speed adjustment base is obtained based on the first quantity and the speed difference;

[0067] The speed of the four-way vehicle in the adjustment sequence is increased in an incremental manner from large to small, with each increment being the adjustment base number.

[0068] Using the above embodiment as an example, the adjustment sequence includes three four-way vehicles: C, D, and A. The initial quantity is 3, the speed difference is A, and the adjustment base is A / (3+1). The increased speed of four-way vehicle A is A / (3+1), the increased speed of four-way vehicle D is A / (3+1)*2, and the increased speed of four-way vehicle C is A / (3+1)*3. By adjusting the speed incrementally, it ensures that the four-way vehicles entering from the front reach the middle point at a faster and safer speed, while the following vehicles, due to their lower speed increase compared to the four-way vehicles in front, will not collide with them.

[0069] When obtaining the adjustment base, it is generally obtained by dividing the speed difference by the first quantity and adding 1. By adding 1 to the first quantity, the first four-way vehicle can be prevented from reaching the maximum safe driving speed, thus ensuring the driving safety of the four-way vehicle.

[0070] Preferably, the method for constructing the driving path is to use a greedy algorithm to construct the path with the shortest time as the driving path, and the path with the second shortest time as the suboptimal path.

[0071] Preferably, the priority in step S3 is calculated as follows:

[0072] ;

[0073] ;

[0074] ;

[0075] ;

[0076] in and As weight, and Let represent the completion time of the i-th four-way vehicle's current second path and the completion time of the four-way vehicle's second-best path, respectively. Let be the transport time for the j-th item in the i-th four-way vehicle, and n be the quantity of items in the order information. and Let represent the congestion level of the i-th four-way vehicle's current second path and the congestion level of the four-way vehicle's second-best path, respectively. The penalty for the delay of the j-th cargo in the i-th direction vehicle. This is the coefficient for the delayed penalty.

[0077] In this invention The smaller the priority, the higher the priority. The priority calculation considers the completion time of the current travel route and the second-best route, as well as the congestion level, and sets a penalty for cargo delays. By quantifying the penalty cost, a balance between "efficiency" and "fairness" can be maintained. This prevents low-priority tasks from affecting overall efficiency due to long waiting times, while ensuring that high-priority tasks (high-penalty tasks) receive sufficient scheduling resources. Unlike traditional scheduling schemes, it avoids falling into the trap of local optima, and the quantification mechanism guarantees the timeliness of critical tasks.

[0078] Preferably, the four-way vehicle that collides on the second path is identified and marked as the first four-way vehicle;

[0079] Obtain the priority of the first four-way vehicle respectively. The first four-way vehicle with the highest priority is not adjusted, while the first four-way vehicle with the lower priority takes the second-best path as its driving path and re-executes step S3.

[0080] After scheduling the first four-way vehicle with low priority, since the second-best path at this point is the actual travel path, this invention will also calculate the next second-best path using a greedy algorithm. This is to ensure that priority adjustments can be made as needed in the future.

[0081] A four-way vehicle scheduling system for an intelligent warehouse, using the aforementioned four-way vehicle scheduling method for an intelligent warehouse, includes a receiving module, a path construction module, and an adjustment module;

[0082] The receiving module is used to receive order information, taking the current position of the four-way vehicle as the starting point, parsing the order information, taking the storage location of the goods to be transported as the intermediate point, and the transport exit as the endpoint;

[0083] The path building module is used to construct the driving path of a four-way vehicle in the order of start point, intermediate point, and end point;

[0084] The adjustment module is used to calculate the time the four-way vehicle occupies in the driving path based on the driving speed of the four-way vehicle, and to determine whether the driving path of the four-way vehicle overlaps with the driving distance of other four-way vehicles during the occupancy time.

[0085] If there is overlap, the driving path of the four-way vehicle will be scheduled based on the priority in the order information.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0087] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A four-way vehicle scheduling method for an intelligent warehouse, characterized in that, Includes the following steps: Step S1: Receive order information, take the current position of the four-way vehicle as the starting point, parse the order information, take the storage location of the goods to be transported as the intermediate point, and the transport exit as the endpoint; Step S2: Construct the four-way driving path of the vehicle in the order of the starting point, intermediate point, and ending point; Step S3: Calculate the time the four-way vehicle occupies in the travel path based on the travel speed of the four-way vehicle, and determine whether the travel path of the four-way vehicle overlaps with the travel path of other four-way vehicles during the time it occupies. If there is overlap, the driving path of the four-way vehicle will be scheduled based on the priority in the order information; The driving path includes a first path and a second path, wherein the first path is the path from the starting point to the intermediate point, and the second path is the path from the intermediate point to the destination. Before scheduling the travel routes of four-way vehicles based on the priority in the order information, the following steps need to be performed: Step A: Determine whether the overlapping driving paths only contain the second path. If they only contain the second path, schedule the driving paths of the four-way vehicles based on priority. If it includes more than just the second path, then obtain the overlapping paths in the first path as the debugging path, obtain the passage time of the four-way vehicles that pass through the debugging path as the first time period, sort the four-way vehicles according to the order of the first time period of entering the debugging path to obtain the four-way vehicle sequence, adjust the driving speed of the four-way vehicles in the four-way vehicle sequence, and re-execute step S3. The specific steps for adjusting the speed of four-way vehicles within a four-way vehicle sequence are as follows: Obtain the time difference between the times when adjacent four-way vehicles enter the debugging path in the four-way vehicle sequence, and determine whether the time difference is greater than the time threshold. If the time difference is greater than the time threshold, then no adjustment is made to the four-way vehicles. If the time difference is not greater than the time threshold, then the last four-way vehicle with a time difference greater than the time threshold is selected as the adjustment group. The sequence from the first four-way vehicle in the four-way vehicle sequence to the length of the adjustment group is extracted, and the adjustment sequence is reconstructed. In the adjustment sequence, the driving speed of the four-way vehicle is increased in an incremental manner; The specific steps for increasing the speed of the four-way vehicle in an incremental manner are as follows: Obtain the speed difference between the first four-way vehicle speed and the maximum safe driving speed in the adjustment sequence; Obtain the number of four-way vehicles in the adjustment sequence as the first quantity; The speed adjustment base is obtained based on the first quantity and the speed difference; The speed of the four-way vehicle in the adjustment sequence is increased in an incremental manner from large to small, with each increment being the adjustment base number.

2. The four-way vehicle scheduling method for an intelligent warehouse according to claim 1, characterized in that, The method for constructing the driving path is to use a greedy algorithm to construct the path with the shortest time as the driving path, and the path with the second shortest time as the suboptimal path.

3. The four-way vehicle scheduling method for an intelligent warehouse according to claim 2, characterized in that, The priority in step S3 is calculated as follows: ； ； ； ； in and As weight, and Let represent the completion time of the i-th four-way vehicle's current second path and the completion time of the four-way vehicle's second-best path, respectively. Let be the transport time for the j-th item in the i-th four-way vehicle, and n be the quantity of items in the order information. and Let represent the congestion level of the i-th four-way vehicle's current second path and the congestion level of the four-way vehicle's second-best path, respectively. The penalty for delay of the j-th cargo in the i-th direction vehicle. This is the coefficient for the delayed penalty.

4. The four-way vehicle scheduling method for an intelligent warehouse according to claim 3, characterized in that, Identify the four-way vehicle that collides on the second path and mark it as the first four-way vehicle; Obtain the priority of the first four-way vehicle respectively. The first four-way vehicle with the highest priority is not adjusted, while the first four-way vehicle with the lower priority takes the second-best path as its driving path and re-executes step S3.

5. A four-way vehicle dispatching system for an intelligent warehouse, characterized in that, A four-way vehicle scheduling method for a smart warehouse according to any one of claims 1 to 4 includes a receiving module, a path construction module, and an adjustment module; The receiving module is used to receive order information, taking the current position of the four-way vehicle as the starting point, parsing the order information, taking the storage location of the goods to be transported as the intermediate point, and the transport exit as the endpoint; The path building module is used to construct the driving path of a four-way vehicle in the order of start point, intermediate point, and end point; The adjustment module is used to calculate the time the four-way vehicle occupies in the driving path based on the driving speed of the four-way vehicle, and to determine whether the driving path of the four-way vehicle overlaps with the driving distance of other four-way vehicles during the occupancy time. If there is overlap, the driving path of the four-way vehicle will be scheduled based on the priority in the order information.

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