A cross-lane cooperative scheduling and congestion control method of CTU cluster

Abstract

The application relates to the technical field of intelligent warehouse scheduling, in particular to a cross-aisle cooperative scheduling and congestion control method of a CTU cluster, which comprises the following steps: in a scheduling stage, performing congestion influence evaluation on a generated candidate cross-aisle scheduling scheme, wherein the congestion influence evaluation represents the expected influence degree of the candidate cross-aisle scheduling scheme on the overall operation state of shared passing resources when the candidate cross-aisle scheduling scheme is executed; according to the congestion influence evaluation result, performing cross-aisle access control at the scheduling level on the candidate cross-aisle scheduling scheme to obtain a corresponding cross-aisle access control result, and according to the cross-aisle access control result, limiting or allowing a target CTU to execute the corresponding cross-aisle scheduling scheme. Through the evaluation, access and cooperative control of the candidate cross-aisle scheduling scheme, executable cross-aisle scheduling schemes are retained as much as possible, the scheduling flexibility is improved, and the system-level efficiency decline caused by excessive concentration of cross-aisle scheduling is avoided.

Description

Technical Field

[0001] This application relates to the field of intelligent warehouse scheduling technology, specifically to a cross-lane collaborative scheduling and congestion control method for a CTU cluster. Background Technology

[0002] With the development of automated warehousing technology, automated storage and retrieval systems based on CTUs are widely used in multi-aisle warehousing environments. In most related technologies, multiple CTUs are managed in a unified manner through a scheduling and control system to realize the handling and retrieval of goods between different aisles. To improve system operating efficiency, some CTUs are designed to have cross-aisle operation capabilities, allowing CTUs to move between different aisles through lateral passages, thus providing greater flexibility in task allocation and path planning.

[0003] In summary, to avoid conflicts or congestion caused by multiple CTUs operating simultaneously, existing technologies have introduced congestion control mechanisms during the scheduling process. For example, these mechanisms include setting congestion thresholds based on lane or channel occupancy rates; implementing flow control based on channel queue lengths or waiting times; or adjusting the CTU paths or execution sequences when local congestion is detected.

[0004] However, the aforementioned scheduling and congestion control methods in related technologies mainly target the operation status of a single roadway or local passage. The implicit premise is that cross-roadway scheduling behavior itself can continuously improve the overall system efficiency. However, in actual operation, when multiple CTUs have cross-roadway operation capabilities and are frequently assigned cross-roadway tasks during the scheduling phase, key shared resources such as lateral passages and roadway intersections are easily concentrated and occupied. Even if the operation status of each individual passage has not reached the preset congestion threshold, the overall operating efficiency may still decrease, the CTU waiting time may increase, or even the throughput capacity may be reduced.

[0005] Furthermore, since existing technologies typically perform congestion detection and adjustment based on real-time status only after the CTU has entered the target lane or passage, it is difficult to suppress system-level congestion spread caused by improper cross-lane decisions during the scheduling phase in a timely manner. This results in a problem of response lag and repeated adjustments between scheduling decisions and congestion control.

[0006] Therefore, this application proposes a cross-lane collaborative scheduling and congestion control method for CTU clusters in order to solve the above problems. Summary of the Invention

[0007] To achieve the above objectives, this application provides a cross-lane cooperative scheduling and congestion control method for CTU clusters, comprising the following:

[0008] Obtain the operating status information of each CTU in the CTU cluster, as well as the passage status information of each aisle and lateral passage in the warehousing system.

[0009] Based on the operating status information of the CTU cluster, for the transport task to be executed, at least one target CTU that can execute the transport task is identified from the CTU cluster, and it is determined whether the target CTU needs to be scheduled across lanes. Based on the determination result, at least one candidate cross-lane scheduling scheme is generated.

[0010] During the scheduling phase, a congestion impact assessment is performed on the generated candidate cross-lane scheduling schemes. The congestion impact assessment indicates the expected impact of the candidate cross-lane scheduling schemes on the overall operating status of shared access resources when they are executed.

[0011] Based on the congestion impact assessment results, cross-lane access control is implemented at the scheduling level for candidate cross-lane scheduling schemes to obtain the corresponding cross-lane access control results. Based on the cross-lane access control results, the target CTU is restricted or allowed to execute the corresponding cross-lane scheduling scheme.

[0012] Based on the cross-tunnel access control results, the CTU cluster is coordinated and scheduled, and corresponding task execution instructions are issued.

[0013] Preferably, the system acquires the operational status information of each CTU in the CTU cluster and the access status information of each aisle and lateral passage in the warehousing system, specifically including:

[0014] The operational status information includes the current location, task execution status, and load status of each CTU in the CTU cluster, and the access status information includes the occupancy status of lanes and lateral passages.

[0015] The system collects the current location, task execution status, and load status of each CTU in the CTU cluster at a preset status collection period or when a new transport task is received, and simultaneously collects the occupancy status of each roadway and lateral passage. The collected operation status information and passage status information are used for the generation and evaluation of subsequent cross-roadway scheduling schemes.

[0016] Preferably, based on the operational status information of the CTU cluster, for the transport task to be executed, at least one target CTU capable of executing the transport task is identified from the CTU cluster, and it is determined whether the target CTU needs to be scheduled across lanes. Based on the determination result, at least one candidate cross-lane scheduling scheme is generated, specifically including:

[0017] Based on the current location, task execution status, and load status of each CTU in the CTU cluster, the CTU that is idle or meets the preset schedulable conditions is identified as the target CTU.

[0018] After identifying the target CTU, determine whether the target CTU needs to pass through other lanes or transverse passages outside the current lane when performing the transport task. If so, determine that the target CTU needs to perform cross-lane scheduling.

[0019] When it is determined that only one target CTU needs to be scheduled across lanes, at least one candidate cross-lane scheduling scheme for the target CTU is generated based on the current location of the target CTU and the target location of the transport task.

[0020] When more than one target CTU is identified, i.e. multiple target CTUs need to be scheduled across lanes, at least one candidate cross-lane scheduling scheme is generated based on the operating status information of multiple target CTUs to represent the cross-lane operating combination relationship of multiple target CTUs.

[0021] The candidate cross-lane scheduling scheme is used to represent at least one of the cross-lane running path, running sequence, or execution timing corresponding to the target CTU when performing the transport task.

[0022] Preferably, during the scheduling phase, a congestion impact assessment is performed on the generated candidate cross-lane scheduling schemes, specifically including:

[0023] The scheduling phase refers to the phase used to evaluate and control the cross-lane scheduling scheme before the target CTU actually executes it.

[0024] For each candidate cross-lane scheduling scheme, determine at least one shared access resource involved when the current candidate cross-lane scheduling scheme is executed. The shared access resource includes at least one of the following: lateral passage, lane intersection, lane entrance, and lane exit.

[0025] Based on the number of target CTUs in the current candidate cross-lane scheduling scheme, the shared access resources involved, and the current access status information of each shared access resource, the resource occupation impact value of the current candidate cross-lane scheduling scheme on each shared access resource is calculated.

[0026] Based on the resource occupancy impact value corresponding to each shared access resource, the overall congestion impact assessment value of the current candidate cross-lane scheduling scheme is calculated. The formula for calculating the overall congestion impact assessment value is as follows:

[0027]

[0028] In the formula, This indicates the overall congestion impact assessment value. This indicates the number of shared access resources involved in the current candidate cross-lane scheduling scheme. This indicates the current candidate cross-lane scheduling scheme for the first... The resource occupancy impact value of shared access resources. Indicates the first The weighting coefficients corresponding to each shared access resource are used to reflect the degree of impact of different types of shared access resources on overall operational efficiency.

[0029] Preferably, the calculation formula for the resource occupancy impact of the current candidate cross-lane scheduling scheme on each shared access resource is as follows:

[0030]

[0031] In the formula, This indicates that when the target CTU executes the candidate cross-lane scheduling scheme, it is expected to occupy the [number]th [lane]. The time for sharing access resources; This indicates that in the candidate cross-tunnel scheduling scheme, it is expected that the first tunnel will pass through simultaneously. The target number of CTUs for shared access resources; Indicates the first The capacity of shared access resources to support traffic flow.

[0032] Preferably, based on the calculated overall congestion impact assessment value, the corresponding congestion impact assessment result is obtained, specifically including:

[0033] A congestion assessment threshold is pre-set to represent the acceptable level of congestion for shared access resources, and the overall congestion impact assessment value corresponding to the current candidate cross-lane scheduling scheme is compared with the congestion assessment threshold.

[0034] When the overall congestion impact assessment value is less than or equal to the congestion assessment threshold, the congestion impact assessment result of the current candidate cross-lane scheduling scheme is determined to be acceptable.

[0035] When the overall congestion impact assessment value is greater than the congestion assessment threshold, the congestion impact assessment result of the current candidate cross-lane scheduling scheme is determined to be unacceptable; the congestion impact assessment result is used as the basis for determining cross-lane access control at the subsequent scheduling level.

[0036] Preferably, when the congestion impact assessment result is acceptable, the cross-lane access control includes:

[0037] Mark the current candidate cross-lane scheduling scheme as an admission status.

[0038] The shared access resources involved are based on the estimated occupancy time in the candidate cross-lane scheduling scheme. Compared with the expected number of Make a temporary reservation or hold for resource usage.

[0039] At the earliest feasible moment when the resource reservation conditions are met, determine and allocate the specific start time or execution period of the target CTU.

[0040] The admission status and corresponding execution time are used as the basis for issuing task execution instructions, which are then sent to the corresponding target CTU and the scheduling plan of the CTU cluster is updated.

[0041] During the execution of the target CTU, the reservation of resources is monitored based on real-time operational status information, and subsequent rescheduling is triggered when sudden changes occur.

[0042] Preferably, when the congestion impact assessment result is unacceptable, the cross-lane access control includes alternative measures implemented according to at least one or a combination of the following, specifically including:

[0043] Delayed execution determines the delay time for candidate cross-tunnel scheduling schemes. And recalculate the overall congestion impact assessment value corresponding to the delayed plan. When a minimum delay exists Make At that time, the To assess the congestion threshold, the activation time of candidate cross-lane scheduling schemes is delayed. The delayed plan was then marked as controlled access and an execution instruction was issued.

[0044] Concurrent reduction, in the case of multiple target CTUs intended to pass simultaneously, from the set of target CTUs. The target CTU set is sorted in ascending order of its individual contribution to shared access resources. This represents the set of target CTUs participating in the current candidate cross-lane scheduling scheme. Target CTUs are selected sequentially and included in the subset allowed for execution. until the subset Corresponding overall congestion impact assessment value The congestion assessment threshold has been reached; only a subset is allowed. The target CTUs within the specified range are executed according to the corresponding scheduling scheme, while the remaining target CTUs are postponed or reallocated.

[0045] For candidate cross-lane scheduling schemes involving high-weight shared access resources, alternative candidate cross-lane scheduling schemes are generated to replace or reroute the running path, or adjust the running order, so that the overall congestion impact assessment value of the alternative scheme is less than or equal to the congestion assessment threshold, and the alternative scheme is allowed to be executed when the alternative scheme meets the conditions.

[0046] Task reassignment involves redistributing the necessary handling tasks to other alternative CTUs that do not require crossing lanes, or splitting the task into multiple subtasks to reduce the concurrency of a single lane crossing.

[0047] If the above alternative measures are not feasible, the current candidate cross-lane scheduling scheme is marked as unadmitted and rejected, and a new candidate cross-lane scheduling scheme is generated for re-evaluation.

[0048] The cross-lane access control results include: access status, the set of target CTUs allowed to execute, the start time or execution period allocated to the allowed target CTUs, and the identifier of the alternative scheme adopted; the access status includes access, controlled access, and non-access, and the cross-lane access control results are used as the basis for subsequent task issuance and real-time scheduling adjustments.

[0049] Preferably, based on the cross-lane access control results, the CTU cluster is coordinated and scheduled, and corresponding task execution instructions are issued, specifically including:

[0050] The coordinated scheduling refers to a scheduling method that uniformly coordinates the task execution order, running path, or execution timing of multiple CTUs within a CTU cluster. The coordinated scheduling process includes:

[0051] Receive and parse the cross-lane access control results to determine the set of target CTUs that are allowed to be executed and their corresponding start time or execution period.

[0052] For each allowed target CTU, determine the execution path and execution order, and generate the final collaborative scheduling plan.

[0053] In the collaborative scheduling plan, establish or update resource reservation records for the shared access resources involved.

[0054] A consistency check is performed on the collaborative scheduling plan. The consistency check includes checking for path conflicts, resource reservation conflicts, and timing conflicts, and triggering a rescheduling scheme when a conflict is found.

[0055] The collaborative scheduling plan that passes the consistency check is transformed into a deployable task execution instruction and sent to the corresponding target CTU.

[0056] The task execution instruction includes: target CTU identifier, task identifier, allocated start time or execution period, specified running path or path segment, expected shared access resources and their reserved time window, execution priority, and instruction version number or timestamp; the task execution instruction is used to guide the target CTU to perform the transport task according to the specified path within the specified time period.

[0057] Preferably, the rescheduling scheme specifically includes:

[0058] Before rescheduling, the conflict types discovered through consistency checks are classified. The conflict types include path conflicts, resource reservation conflicts, and timing conflicts. For each conflict, the target CTU set involved in the conflict, the shared access resources involved, the time period in which the conflict occurred, and the priority of the conflict are identified.

[0059] For each conflict, adjustment measures are generated. These measures are then ranked based on changes in the overall congestion impact assessment value, task priority, and cumulative delay. Priority is given to implementing the adjustment that minimizes the overall impact while meeting the congestion assessment threshold. Specifically, this includes:

[0060] When path conflicts occur, adjustment measures include: generating alternative running paths or path segments for some conflicting CTUs; adjusting the running order of conflicting CTUs; implementing short-term controlled waiting for some CTUs; or re-executing certain tasks in segments to avoid the conflict point.

[0061] When resource reservation conflicts occur, adjustment measures include: postponing or advancing the start and end times of reservations to avoid conflicts, shortening the reservation window for individual CTUs, changing some reservations to controlled reservations, and temporarily canceling and postponing some reservations.

[0062] When timing conflicts occur, adjustment measures include: adjusting the task execution order to reduce peak concurrency, specifying alternative start times or execution periods for some CTUs, and assigning tasks to alternative CTUs.

[0063] After the adjustment is implemented, the overall congestion impact assessment value of the relevant scheme is recalculated and a consistency check is performed. If the conflict is eliminated, the collaborative scheduling plan is updated and the adjusted execution instruction is issued. If the conflict is not eliminated, the next adjustment measure is tried or the scheme is rejected and a candidate is regenerated. When all alternative adjustments fail to reduce the assessment value to below the congestion assessment threshold, the current candidate cross-lane scheduling scheme is marked as unadmitted and a new candidate cross-lane scheduling scheme is generated for re-evaluation.

[0064] The beneficial effects of this application are as follows:

[0065] 1. By introducing a congestion impact assessment mechanism for cross-lane scheduling schemes during the scheduling phase, cross-lane scheduling behavior can be controlled in advance, avoiding the problem of post-event adjustment of system-level congestion. Before the target CTU actually enters the lane or lateral passage, the overall operation status of shared access resources is assessed for congestion based on candidate cross-lane scheduling schemes. This constrains cross-lane decisions that may lead to high concurrency occupancy from the source of scheduling. Compared with related technologies that only perform congestion detection and adjustment during the execution phase or in local areas, this can effectively reduce the response lag between scheduling decisions and congestion control.

[0066] 2. By conducting an overall congestion impact assessment of candidate cross-lane scheduling schemes, this application overcomes the limitations of related technologies that control based solely on the status of a single lane or local passage. Instead of using the occupancy rate or waiting time of a single lane or passage as the sole criterion, it comprehensively considers the combined impact of multiple CTUs in the candidate cross-lane scheduling schemes on various shared access resources such as lateral passages, lane intersections, and lane entrances. This allows for a quantitative assessment of the overall congestion risk of cross-lane scheduling behavior at the system level, thereby avoiding the problem of decreased overall operational efficiency due to concentrated cross-lane scheduling when local resources have not yet reached the congestion threshold.

[0067] 3. By setting up a cross-lane access control mechanism at the scheduling level, the unified coordination and orderly release of cross-lane scheduling behavior can be achieved. Based on the congestion impact assessment results, this application implements access, controlled access, or non-access control at the scheduling level for candidate cross-lane scheduling schemes. This allows for unified constraints on the execution scale, execution time, or concurrency relationship of cross-lane scheduling without changing the existing scheduling model and congestion assessment rules. This effectively prevents multiple CTUs with cross-lane capabilities from entering critical shared resources at the same time, reducing the instantaneous pressure on lateral passages and intersections. By evaluating, granting access to, and coordinating control of candidate cross-lane scheduling schemes, executable cross-lane scheduling schemes are retained as much as possible while meeting the carrying capacity of shared passage resources. This improves scheduling flexibility while avoiding system-level efficiency degradation caused by excessive concentration of cross-lane scheduling.

[0068] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0069] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 This is an overall flowchart of a cross-lane collaborative scheduling and congestion control method for a CTU cluster provided in an embodiment of this application.

[0071] Figure 2 This is a schematic diagram of the traffic status fusion view provided in an embodiment of this application.

[0072] Figure 3 This is a schematic diagram of the congestion impact assessment and cross-lane access control logic provided in the embodiments of this application. Detailed Implementation

[0073] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0074] Please see Figure 1 , Figure 1 This is an overall flowchart of a cross-lane collaborative scheduling and congestion control method for a CTU cluster provided in an embodiment of this application.

[0075] In this embodiment, a cross-lane collaborative scheduling and congestion control method for a CTU cluster includes steps S10, S20, S30, S40, and S50, specifically including:

[0076] Step S10: Obtain the operating status information of each CTU in the CTU cluster and the passage status information of each aisle and lateral passage in the warehouse system, specifically including:

[0077] The operational status information includes the current location, task execution status, and load status of each CTU in the CTU cluster, and the access status information includes the occupancy status of lanes and lateral passages.

[0078] The system collects the current location, task execution status, and load status of each CTU in the CTU cluster at a preset status collection period or when a new transport task is received, and simultaneously collects the occupancy status of each roadway and lateral passage. The collected operation status information and passage status information are used for the generation and evaluation of subsequent cross-roadway scheduling schemes.

[0079] It should be noted that the current location, task execution status, and load status of each CTU in the CTU cluster are collected through vehicle-mounted sensors and communication modules deployed on the CTU. Specifically, each CTU is equipped with a UWB-based indoor positioning system to obtain the CTU's location coordinates or the lane identifier in real time. The CTU controller maintains and reports the task execution status and current task identifier in real time. The execution status includes: idle, order accepted, driving, loading / unloading, and abnormal. The load status is collected by vehicle-mounted weighing sensors to obtain the current cargo weight and occupancy information. Each CTU reports the above information to the central dispatch server through a wireless network at a status collection cycle of 0.5–5 seconds. The reported data includes CTU identifier, timestamp, location, task identifier, task status, load value, and power field, and should also include a serial number and acknowledgment mechanism to ensure communication reliability. The central dispatch server can perform short-term smoothing and predictive processing on the received data to compensate for positioning noise and communication delay. The processing results are used for the generation and evaluation of subsequent cross-lane dispatching schemes.

[0080] It should be noted that the occupancy status of each lane and transverse passage is monitored through a combination of on-site sensing and reservation. Specifically, the warehousing system deploys occupancy detection photoelectric sensors, pressure sensors, or video cameras at lane entrances, transverse passages, and intersections to detect actual passage or lingering CTUs in real time. Simultaneously, the central dispatch server maintains a resource reservation table, recording the time windows of those granted access and a list of reserved CTUs to indicate expected occupancy. The actual occupancy status is jointly determined by the on-site detection devices and the reservation table: when actual occupancy is detected—that is, after confirmation by both sensors and vision, or when the reservation table marks a reserved space in the corresponding time window—the shared access resource is considered to be in an occupied or pre-occupied state. Occupancy information is reported to the dispatch server at preset intervals or when the occupancy status changes, including resource identifier, occupied or pre-occupied status, start and expected end times of occupancy, occupied CTU identifier, and timestamp. Please refer to [reference needed]. Figure 2 The scheduling server can merge the detection data and the reservation data to generate a consistent traffic status view, which is used for subsequent congestion impact assessment.

[0081] Step S20: Based on the operating status information of the CTU cluster, for the transport task to be executed, determine at least one target CTU in the CTU cluster that can execute the transport task, and determine whether the target CTU needs to be scheduled across lanes. Based on the determination result, generate at least one candidate cross-lane scheduling scheme, specifically including:

[0082] Based on the current location, task execution status, and load status of each CTU in the CTU cluster, the CTU that is idle or meets the preset schedulable conditions is identified as the target CTU.

[0083] It should be noted that the preset schedulable conditions refer to a set of feasible conditions used to determine whether a CTU can be scheduled to execute a new task. The preset schedulable conditions include: whether the remaining power of the target CTU is sufficient to execute the task to be transported; whether the load status of the target CTU matches the load capacity of the task to be transported; whether the target CTU can start a new task within a predetermined acceptable delay range after arriving at the task start position or completing the current task; whether the target CTU has been reserved or locked by other high-priority tasks for a long time; and whether there are any known unrecoverable faults or blockages in the area where the target CTU is located and the target task path within the current or expected time window. The above conditions can be combined according to any rules to determine whether the CTU meets the schedulable conditions.

[0084] After identifying the target CTU, determine whether the target CTU needs to pass through other lanes or transverse passages outside the current lane when performing the transport task. If so, determine that the target CTU needs to perform cross-lane scheduling.

[0085] When it is determined that only one target CTU needs to be scheduled across lanes, at least one candidate cross-lane scheduling scheme for the target CTU is generated based on the current location of the target CTU and the target location of the transport task.

[0086] It should be noted that when it is determined that only one target CTU needs to be scheduled across lanes, a candidate cross-lane scheduling scheme is generated by combining a map-based path planner with time window prediction. Specifically, the map-based path planner takes the current location of the target CTU and the location of the task target as input, and calculates one or more feasible running paths by referring to the current traffic status view and resource reservation table. The time window prediction estimates the expected time occupied by the target CTU on each shared traffic resource based on the travel time of each path segment. And estimate the number of concurrent traffic passing through based on the current traffic status. Therefore, each candidate scheme includes at least: the target CTU identifier, the selected operating path or path segment sequence, the expected time window for each shared resource on the path, the estimated resource occupancy impact parameters, the expected start time or start time range, and the scheme priority, which includes prioritizing the shortest time and prioritizing low congestion; the above candidate schemes will be used for subsequent congestion impact assessment and admission determination.

[0087] When more than one target CTU is identified, i.e. multiple target CTUs need to be scheduled across lanes, at least one candidate cross-lane scheduling scheme is generated based on the operating status information of multiple target CTUs to represent the cross-lane operating combination relationship of multiple target CTUs.

[0088] It should be noted that when multiple target CTUs need to be scheduled across roadways, the combined scheduling generator synchronously generates at least one candidate scheme to represent the combined operation relationship of multiple target CTUs across roadways based on the operating status information of each target CTU, the reservation table, and the path set. Specifically, the combined scheduling generator works as follows:

[0089] First, several alternative single-unit paths are generated for each target CTU, consistent with the aforementioned single-target CTU scheme. Then, candidate combinations are constructed in the path and time sequence space. These candidate combinations include concurrent execution time offsets, sequential execution order, or interleaved execution time periods. The resource consumption impact at the combination level is calculated for each candidate combination, specifically by merging the resources of each CTU based on shared resources. and Get the combination Compared with the overall congestion impact assessment value .

[0090] Therefore, each multi-CTU candidate combination scheme should at least include: a list of target CTUs included, a running path or path segment specified for each CTU, a start time or relative timing constraint allocated to each CTU, a combined occupancy time window for each shared access resource, and the resource occupancy impact value at the combination level. and overall congestion impact assessment value The candidate combinations are designed to provide a complete set of evaluable options for subsequent concurrency reduction, admission comparison and rescheduling decisions, as well as the priority of the combinations.

[0091] The candidate cross-lane scheduling scheme is used to represent at least one of the cross-lane running path, running sequence, or execution timing corresponding to the target CTU when performing the transport task.

[0092] Step S30: In the scheduling phase, a congestion impact assessment is performed on the generated candidate cross-lane scheduling schemes. The congestion impact assessment represents the expected impact of the candidate cross-lane scheduling schemes on the overall operational status of shared access resources when they are executed, specifically including:

[0093] The scheduling phase refers to the phase used to evaluate and control the cross-lane scheduling scheme before the target CTU actually executes it.

[0094] For each candidate cross-lane scheduling scheme, determine at least one shared access resource involved when the current candidate cross-lane scheduling scheme is executed. The shared access resource includes at least one of the following: lateral passage, lane intersection, lane entrance, and lane exit.

[0095] Based on the number of target CTUs in the current candidate cross-lane scheduling scheme, the shared access resources involved, and the current access status information of each shared access resource, the resource occupation impact value of the current candidate cross-lane scheduling scheme on each shared access resource is calculated.

[0096] Based on the resource occupancy impact value corresponding to each shared access resource, the overall congestion impact assessment value of the current candidate cross-lane scheduling scheme is calculated. The formula for calculating the overall congestion impact assessment value is as follows:

[0097]

[0098] In the formula, This indicates the overall congestion impact assessment value. This indicates the number of shared access resources involved in the current candidate cross-lane scheduling scheme. This indicates the current candidate cross-lane scheduling scheme for the first... The resource occupancy impact value of shared access resources. Indicates the first The weighting coefficients corresponding to each shared access resource are used to reflect the degree of impact of different types of shared access resources on overall operational efficiency.

[0099] It should be noted that the calculation formula for the resource occupancy impact of the current candidate cross-lane scheduling scheme on each shared access resource is as follows:

[0100]

[0101] In the formula, This indicates that when the target CTU executes the candidate cross-lane scheduling scheme, it is expected to occupy the [number]th [lane]. The time for sharing access resources; This indicates that in the candidate cross-tunnel scheduling scheme, it is expected that the first tunnel will pass through simultaneously. The target number of CTUs for shared access resources; Indicates the first The capacity of shared access resources to support traffic flow.

[0102] It should be noted that the corresponding congestion impact assessment results are obtained based on the calculated overall congestion impact assessment value, specifically including:

[0103] A congestion assessment threshold is pre-set to represent the acceptable level of congestion for shared access resources, and the overall congestion impact assessment value corresponding to the current candidate cross-lane scheduling scheme is compared with the congestion assessment threshold.

[0104] It should be noted that the congestion assessment threshold is used to represent the overall congestion level acceptable for shared access resources during the scheduling phase. The congestion assessment threshold can be set using any one of a single threshold, a multi-level threshold, or a dynamic threshold, or a combination thereof.

[0105] In one implementation, the congestion assessment threshold is a single threshold, which is a fixed threshold determined in advance based on the overall throughput capacity of the warehousing system, the size of the CTU cluster, and historical operational data statistics, and is used to quickly determine whether candidate cross-lane scheduling schemes can be directly admitted.

[0106] In another implementation, the congestion assessment threshold is a multi-level threshold, which includes a first threshold and a second threshold, wherein: when the overall congestion impact assessment value is less than or equal to the first threshold, it is determined to be a low congestion state and direct admission is allowed; when the overall congestion impact assessment value is greater than the first threshold and less than or equal to the second threshold, it is determined to be a controllable congestion state and a flow limiting or priority adjustment strategy is triggered; when the overall congestion impact assessment value is greater than the second threshold, it is determined to be a high congestion state and admission is prohibited or rescheduling is triggered.

[0107] In another implementation, the congestion assessment threshold is a dynamic threshold. The dynamic threshold is adjusted in real time or periodically based on the CTU arrival frequency, shared access resource utilization rate, historical congestion statistics, or operating load in the current time period, so that the threshold can be adaptively updated as the system operating status changes, thereby improving scheduling stability and resource utilization efficiency in high-concurrency cross-lane scenarios.

[0108] When the overall congestion impact assessment value is less than or equal to the congestion assessment threshold, the congestion impact assessment result of the current candidate cross-lane scheduling scheme is determined to be acceptable.

[0109] When the overall congestion impact assessment value is greater than the congestion assessment threshold, the congestion impact assessment result of the current candidate cross-lane scheduling scheme is determined to be unacceptable; the congestion impact assessment result is used as the basis for determining cross-lane access control at the subsequent scheduling level.

[0110] Step S40: Based on the congestion impact assessment results, implement cross-lane access control at the scheduling level for candidate cross-lane scheduling schemes, obtain the corresponding cross-lane access control results, and restrict or allow the target CTU to execute the corresponding cross-lane scheduling scheme based on the cross-lane access control results, specifically including:

[0111] When the congestion impact assessment result is acceptable, the cross-lane access control includes:

[0112] Mark the current candidate cross-lane scheduling scheme as an admission status.

[0113] The shared access resources involved are based on the estimated occupancy time in the candidate cross-lane scheduling scheme. Compared with the expected number of Make a temporary reservation or hold for resource usage.

[0114] At the earliest feasible moment when the resource reservation conditions are met, determine and allocate the specific start time or execution period of the target CTU.

[0115] The admission status and corresponding execution time are used as the basis for issuing task execution instructions, which are then sent to the corresponding target CTU and the scheduling plan of the CTU cluster is updated.

[0116] During the execution of the target CTU, the reservation of resources is monitored based on real-time operational status information, and subsequent rescheduling is triggered when sudden changes occur.

[0117] When the congestion impact assessment result is unacceptable, the cross-lane access control includes alternative measures implemented according to at least one or a combination of the following:

[0118] Delayed execution determines the delay time for candidate cross-tunnel scheduling schemes. And recalculate the overall congestion impact assessment value corresponding to the delayed plan. When a minimum delay exists Make At that time, the To assess the congestion threshold, the activation time of candidate cross-lane scheduling schemes is delayed. The delayed plan was then marked as controlled access and an execution instruction was issued.

[0119] Concurrent reduction, in the case of multiple target CTUs intended to pass simultaneously, from the set of target CTUs. The target CTU set is sorted in ascending order of its individual contribution to shared access resources. This represents the set of target CTUs participating in the current candidate cross-lane scheduling scheme. Target CTUs are selected sequentially and included in the subset allowed for execution. until the subset Corresponding overall congestion impact assessment value The congestion assessment threshold has been reached; only a subset is allowed. The target CTUs within the specified range are executed according to the corresponding scheduling scheme, while the remaining target CTUs are postponed or reallocated.

[0120] For candidate cross-lane scheduling schemes involving high-weight shared access resources, alternative candidate cross-lane scheduling schemes are generated to replace or reroute the running path, or adjust the running order, so that the overall congestion impact assessment value of the alternative scheme is less than or equal to the congestion assessment threshold, and the alternative scheme is allowed to be executed when the alternative scheme meets the conditions.

[0121] Task reassignment involves redistributing the necessary handling tasks to other alternative CTUs that do not require crossing lanes, or splitting the task into multiple subtasks to reduce the concurrency of a single lane crossing.

[0122] If the above alternative measures are not feasible, the current candidate cross-lane scheduling scheme is marked as unadmitted and rejected, and a new candidate cross-lane scheduling scheme is generated for re-evaluation.

[0123] The cross-lane access control results include: access status, the set of target CTUs allowed to execute, the start time or execution period allocated to the allowed target CTUs, and the identifier of the alternative scheme adopted; the access status includes access, controlled access, and non-access, and the cross-lane access control results are used as the basis for subsequent task issuance and real-time scheduling adjustments.

[0124] It should be noted that the cross-lane access control mentioned above is a centralized control of candidate cross-lane scheduling schemes at the scheduling level based on the congestion impact assessment results. The purpose is to uniformly constrain and coordinate cross-lane scheduling behavior through three control results—access, controlled access, or no access—without changing the established congestion assessment model and threshold determination rules. In this embodiment, the cross-lane access control does not change the basic structure of the candidate cross-lane scheduling schemes, but only restricts or adjusts the execution time, concurrency scale, or execution method of the schemes at the scheduling level, so that the candidate cross-lane scheduling schemes are executable under the condition of meeting the congestion assessment threshold constraints. By introducing the above-mentioned cross-lane access control mechanism in the scheduling phase, scheduling behaviors that may cause congestion are constrained in advance before the target CTU actually enters cross-lane operation, thereby avoiding frequent emergency interventions triggered due to resource conflicts or excessive concurrency in the execution phase, and improving the overall operational stability and predictability of the CTU cluster in high-concurrency cross-lane scenarios.

[0125] Step S50: Based on the cross-tunnel access control results, coordinate the scheduling of the CTU cluster and issue corresponding task execution instructions, specifically including:

[0126] The coordinated scheduling refers to a scheduling method that uniformly coordinates the task execution order, running path, or execution timing of multiple CTUs within a CTU cluster. The coordinated scheduling process includes:

[0127] Receive and parse the cross-lane access control results to determine the set of target CTUs that are allowed to be executed and their corresponding start time or execution period.

[0128] For each allowed target CTU, determine the execution path and execution order, and generate the final collaborative scheduling plan.

[0129] It should be noted that the collaborative scheduling plan includes: a list of allowed target CTUs and their corresponding task identifiers; a start time or execution period allocated to each target CTU; a specified running path or path segment sequence for each target CTU; a reservation time window and a reservation CTU list for each shared access resource; execution order or concurrency constraints; execution priority information for each task; alternative or replacement scheme identifiers; and the version number, generation timestamp, and issuer identifier of the collaborative scheduling plan. The above elements together constitute a deployable collaborative scheduling plan and serve as the basis for subsequent consistency checks, resource reservations, and instruction issuance.

[0130] In the collaborative scheduling plan, establish or update resource reservation records for the shared access resources involved.

[0131] A consistency check is performed on the collaborative scheduling plan. The consistency check includes checking for path conflicts, resource reservation conflicts, and timing conflicts, and triggering a rescheduling scheme when a conflict is found.

[0132] It should be noted that the consistency check process includes the following sub-steps:

[0133] Resource reservation verification verifies whether the reservation time windows of each shared access resource in the collaborative scheduling plan overlap or conflict with existing reservation records; if a conflict is found, the conflicting resource and conflicting time period are recorded.

[0134] Spatial and temporal conflict detection is performed based on the path and allocation time period of each CTU. Spatial and temporal overlay analysis is conducted to determine whether there are cases where different CTUs overlap and pass through the same resource in the same time window, i.e., path conflict or intersection concurrent conflict.

[0135] CTU availability verification verifies whether the assigned CTU still meets the scheduling conditions during the planned execution period. The scheduling conditions are described in detail in step S20, including power, load capacity, and task lock status.

[0136] Priority and constraint verification checks whether the plan violates priority rules, time constraints, or business SLAs.

[0137] The conflict classification and handling guidelines state that if a conflict is found in any of the above sub-steps, it should be recorded by conflict type and the conflict list should be returned to trigger a rescheduling scheme; if no conflict is found, the consistency check should be marked as passed and subsequent instructions should be allowed to be issued; all consistency check results should include the check timestamp, trigger item, and detailed conflict information as input for rescheduling decisions.

[0138] The collaborative scheduling plan that passes the consistency check is transformed into a deployable task execution instruction and sent to the corresponding target CTU.

[0139] The task execution instruction includes: target CTU identifier, task identifier, allocated start time or execution period, specified running path or path segment, expected shared access resources and their reserved time window, execution priority, and instruction version number or timestamp; the task execution instruction is used to guide the target CTU to perform the transport task according to the specified path within the specified time period.

[0140] It should be noted that the rescheduling scheme specifically includes:

[0141] Before rescheduling, the conflict types discovered through consistency checks are classified. The conflict types include path conflicts, resource reservation conflicts, and timing conflicts. For each conflict, the target CTU set involved in the conflict, the shared access resources involved, the time period in which the conflict occurred, and the priority of the conflict are identified.

[0142] It should be noted that the priority rules used in this application to determine the priority of tasks and solutions adopt a priority strategy based on multi-factor scoring. The priority is based on the inherent priority of the task as the main factor, combined with the urgency of the time limit, the waiting time of the task, and operational indicators related to execution efficiency for comprehensive scoring. When the scores are the same or close, the first-come-first-served or the preset business priority table is used as the deciding rule. The above priority rules are implemented by simple weighting.

[0143] For each conflict, adjustment measures are generated. These measures are then ranked based on changes in the overall congestion impact assessment value, task priority, and cumulative delay. Priority is given to implementing the adjustment that minimizes the overall impact while meeting the congestion assessment threshold. Specifically, this includes:

[0144] When path conflicts occur, adjustment measures include: generating alternative running paths or path segments for some conflicting CTUs; adjusting the running order of conflicting CTUs; implementing short-term controlled waiting for some CTUs; or re-executing certain tasks in segments to avoid the conflict point.

[0145] When resource reservation conflicts occur, adjustment measures include: postponing or advancing the start and end times of reservations to avoid conflicts, shortening the reservation window for individual CTUs, changing some reservations to controlled reservations, and temporarily canceling and postponing some reservations.

[0146] When timing conflicts occur, adjustment measures include: adjusting the task execution order to reduce peak concurrency, specifying alternative start times or execution periods for some CTUs, and assigning tasks to alternative CTUs.

[0147] After the adjustment is implemented, the overall congestion impact assessment value of the relevant scheme is recalculated and a consistency check is performed. If the conflict is eliminated, the collaborative scheduling plan is updated and the adjusted execution instruction is issued. If the conflict is not eliminated, the next adjustment measure is tried or the scheme is rejected and a candidate is regenerated. When all alternative adjustments fail to reduce the assessment value to below the congestion assessment threshold, the current candidate cross-lane scheduling scheme is marked as unadmitted and a new candidate cross-lane scheduling scheme is generated for re-evaluation.

[0148] Additionally, please refer to Figure 3 , Figure 3 This is a schematic diagram of the congestion impact assessment and cross-lane access control logic provided in the embodiments of this application. To verify the feasibility of the CTU cluster cross-lane collaborative scheduling and congestion control method described in this embodiment under a high-concurrency scenario of multiple CTUs across lanes, the following describes the complete implementation process of steps S10 to S50 in a specific high-congestion operation scenario of multiple CTUs across lanes, with the following preconditions set as follows:

[0149] A total of four lanes, A1, A2, A3, and A4, and two transverse passages, X1 and X2, are set up; two key intersections, I1 and I2, where I1 and the intersections are both the intersections of X and A; a shared set of access resources is provided. .

[0150] The specific prerequisites for CTU clusters and tasks are as follows:

[0151] Number of CTUs: 6, numbered CTU1, CTU2, CTU3, CTU4, CTU5, and CTU6; evaluation time window set to 60 seconds.

[0152] The specific evaluation parameters are set as follows, regarding the resource carrying capacity. ,by The unit is used for taking values, and an example is shown below:

[0153]

[0154]

[0155]

[0156]

[0157] Regarding weight Examples of possible values ​​are as follows:

[0158]

[0159]

[0160]

[0161]

[0162] Regarding the congestion assessment threshold, a single threshold method is adopted. In this embodiment, the value of the congestion assessment threshold is: .

[0163] Next, the scenario parameters, resource configuration, and evaluation parameters in the above-mentioned preconditions will be substituted into the method flow, and specific examples of the collaborative scheduling and congestion control process in the multi-CTU cross-lane high congestion scenario will be given according to steps S10 to S50.

[0164] Step S10, at time The latest status of all CTUs and resources is received. The sampling period is 1 second. The collection results of the current location, status, and task of the CTU are as follows (only the selected target CTUs):

[0165] CTU2: Located in A2 tunnel, currently idle and ready to carry out a mission. It requires passing through X1 and I1 to reach A3; CTU3: located near the entrance of A2 alley, currently unoccupied and ready to execute a mission. It requires passing through X1 and I1 to reach A4; CTU5: located in A1 tunnel, idle, ready to execute a mission. It needs to go through X1 and X2 to reach A4;

[0166] The on-site resource occupancy status is: currently no actual occupancy, and the resource reservation form is not currently retained.

[0167] It should be noted that if the above three tasks enter the scheduling queue at the same time, it constitutes the initial situation of multiple CTUs being concurrently available across lanes.

[0168] Step S20: Generate candidate cross-lane scheduling schemes for each target CTU. First, execute the individual candidate schemes. For CTU2, the candidate cross-lane scheduling scheme is P2: the path includes... and It is expected that in Occupied time ,exist Occupied time ; expected to pass through several Assuming the merger has not yet taken place.

[0169] The candidate cross-lane scheduling scheme for CTU3 is P3: the path includes... and It is expected that in Occupied time ,exist Occupied time .

[0170] The candidate cross-lane scheduling scheme for CTU5 is P5: the path includes... and It is expected that in Occupied time ,exist Occupied time .

[0171] Combining candidates, simultaneously constructing multiple CTU combinations, and combining schemes. That is, CTU2, CTU3, and CTU5 cross the tunnel simultaneously, for Perform congestion assessment:

[0172] Step S30: Perform congestion impact assessment, first calculate the predicted concurrency. For candidate combinations Within the same time window W, the expected concurrent occupancy rate is calculated as follows:

[0173]

[0174]

[0175]

[0176]

[0177] Calculate the impact value of each resource usage Using formula Substitute the values ​​into the calculation:

[0178] for : ; .

[0179] for : ; .

[0180] for : ; .

[0181] The overall congestion impact assessment value was then calculated. According to the formula Substitute the values ​​into the calculation:

[0182]

[0183]

[0184]

[0185] Sum the three results above: The calculated overall congestion impact assessment value will be compared with the preset congestion assessment threshold. Comparison, ,determination The congestion impact assessment result is unacceptable, so in step S40, the congestion impact assessment will be... Implement access controls and adopt alternative measures.

[0186] Step S40: According to a pre-defined strategy, prioritize concurrent reduction, delay, or rerouting of the candidate set, with the goal of maximizing the number of executable subsets without significantly violating task priorities. satisfy And to maximize the number of allowed CTUs.

[0187] Calculate the marginal contribution of each CTU. The result is used for concurrency reduction. The marginal contribution is equal to the impact of removing that CTU from the system. The reduction is calculated using the following formula:

[0188]

[0189] The calculation is performed for each CTU according to the formula. For CTU2, it is necessary to consider R1 and R3, and the contribution of CTU2 to R1. Contribution to R3 ;but .

[0190] For CTU3, since CTU3 and CTU2 share the same path, we can obtain... .

[0191] For CTU5, it needs to go through R1 and R2. CTU5's contribution to R1 is as follows. .

[0192] Contribution to R2 ,but .

[0193] Sorted by marginal contribution from smallest to largest, CTU5 <CTU2=CTU3。

[0194] Then find the largest subset. Make Try it first Only CTU5 is allowed to execute; substitute the values ​​into CTU5. The numerical value was calculated, and the final result was 0.15000. Since 0.15000 ≤ 0.50, CTU5 was qualified and marked as approved for entry.

[0195] Next, we'll try adding CTU2, which has the smallest marginal contribution. Ultimately, CTU5 and CTU2 After adding the values, the final calculation result is 0.35334. Since 0.35334 ≤ 0.50, CTU5 and CTU2 are qualified and marked as approved for entry.

[0196] Finally, I tried joining CTU. Ultimately, CTU5, CTU2, and CTU3 will be combined. After adding the values, the final result is 0.5567. Since 0.5567 > 0.50, CTU3 is marked as non-compliant and cannot be released at the same time as CTU5 and CTU2.

[0197] Choose the largest subset that allows concurrent execution, i.e. The CTU3 will be postponed or alternative measures will be implemented. CTU3 will attempt to delay its release to avoid passing through at the same time as CTU2 and CTU5.

[0198] If the startup of CTU3 is delayed Assuming that CTU2 and CTU5 complete their transit within 12 seconds, when CTU3 arrives, the concurrent CTU count of R1 will no longer include CTU2 and CTU5, thus leading to... Can be reduced to Then, based on the on-site time prediction, a start-up time is allocated to CTU3. And mark it as controlled access, i.e. delayed access.

[0199] Step S50: Generate the final coordinated scheduling plan, the key elements of which are the list of CTUs allowed to be executed based on the decision made in step S40. .

[0200] CTU5: Start-up Time The path includes R1→R2, and the time window for booking R1 is reserved. ; Schedule R2 time window .

[0201] CTU2: Start-up Time The path includes R1→R3, and the reservation time window is R1. ; Schedule R2 time window .

[0202] CTU3, on the other hand, is marked as delayed and has been assigned a candidate startup window. To ensure that they are not released at the same time as CTU5 and CTU2, they will be granted controlled access after a delay.

[0203] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for cross-lane collaborative scheduling and congestion control of CTU clusters, characterized in that, Including the following: Obtain the operating status information of each CTU in the CTU cluster and the passage status information of each aisle and lateral passage in the warehousing system; Based on the running status information of the CTU cluster, for the transport task to be executed, at least one target CTU that can execute the transport task is identified from the CTU cluster, and it is determined whether the target CTU needs to be scheduled across lanes. Based on the determination result, at least one candidate cross-lane scheduling scheme is generated. During the scheduling phase, a congestion impact assessment is performed on the generated candidate cross-lane scheduling schemes. The congestion impact assessment represents the expected impact of the candidate cross-lane scheduling schemes on the overall operating status of shared access resources when they are executed. Based on the congestion impact assessment results, cross-lane access control at the scheduling level is implemented for candidate cross-lane scheduling schemes to obtain the corresponding cross-lane access control results. Based on the cross-lane access control results, the target CTU is restricted or allowed to execute the corresponding cross-lane scheduling scheme. Based on the cross-lane access control results, the CTU cluster is coordinated and scheduled, and corresponding task execution instructions are issued. The scheduling phase refers to the phase used to evaluate and control the cross-lane scheduling plan before the target CTU actually executes it. For each candidate cross-lane scheduling scheme, determine at least one shared access resource involved when the current candidate cross-lane scheduling scheme is executed. The shared access resource includes at least one of the following: lateral passage, lane intersection, lane entrance, and lane exit. Based on the number of target CTUs in the current candidate cross-lane scheduling scheme, the shared access resources involved, and the current access status information of each shared access resource, calculate the resource occupation impact value of the current candidate cross-lane scheduling scheme on each shared access resource. Based on the resource occupancy impact value corresponding to each shared access resource, the overall congestion impact assessment value of the current candidate cross-lane scheduling scheme is calculated. The formula for calculating the overall congestion impact assessment value is as follows: In the formula, This indicates the overall congestion impact assessment value. This indicates the number of shared access resources involved in the current candidate cross-lane scheduling scheme. This indicates the current candidate cross-lane scheduling scheme for the first... The resource occupancy impact value of shared access resources. Indicates the first The weighting coefficients corresponding to each shared access resource are used to reflect the degree of impact of different types of shared access resources on overall operational efficiency.

2. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 1, characterized in that, Obtain the operational status information of each CTU in the CTU cluster and the access status information of each aisle and lateral passage in the warehouse system, specifically including: The operational status information includes the current location, task execution status, and load status of each CTU in the CTU cluster, and the access status information includes the occupancy status of lanes and lateral passages. The system collects the current location, task execution status, and load status of each CTU in the CTU cluster at a preset status collection period or when a new transport task is received, and simultaneously collects the occupancy status of each roadway and lateral passage. The collected operation status information and passage status information are used for the generation and evaluation of subsequent cross-roadway scheduling schemes.

3. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 1, characterized in that, Based on the operational status information of the CTU cluster, for a transport task to be executed, at least one target CTU capable of executing the task is identified from the CTU cluster, and it is determined whether the target CTU needs cross-lane scheduling. Based on the determination result, at least one candidate cross-lane scheduling scheme is generated, specifically including: Based on the current location, task execution status, and load status of each CTU in the CTU cluster, the CTU that is idle or meets the preset schedulable conditions is identified as the target CTU. After identifying the target CTU, determine whether the target CTU needs to pass through other lanes or transverse passages outside the current lane when performing the transport task. If so, determine that the target CTU needs to perform cross-lane scheduling. When it is determined that only one target CTU needs to be scheduled across lanes, at least one candidate cross-lane scheduling scheme for the target CTU is generated based on the current location of the target CTU and the target location of the transport task. When more than one target CTU is identified, i.e. multiple target CTUs need to be scheduled across lanes, at least one candidate cross-lane scheduling scheme is generated based on the operating status information of multiple target CTUs to represent the cross-lane operating combination relationship of multiple target CTUs. The candidate cross-lane scheduling scheme is used to represent at least one of the cross-lane running path, running sequence, or execution timing corresponding to the target CTU when performing the transport task.

4. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 1, characterized in that, The calculation formula for the impact of the current candidate cross-lane scheduling scheme on the resource occupancy of each shared passage resource is as follows: In the formula, This indicates that when the target CTU executes the candidate cross-lane scheduling scheme, it is expected to occupy the [number]th [lane]. The time for sharing access resources; This indicates that in the candidate cross-tunnel scheduling scheme, it is expected that the first tunnel will pass through simultaneously. The target number of CTUs for shared access resources; Indicates the first The capacity of shared access resources to support traffic flow.

5. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 1, characterized in that, Based on the calculated overall congestion impact assessment value, the corresponding congestion impact assessment results are obtained, specifically including: A congestion assessment threshold is pre-set to represent the acceptable level of congestion for shared access resources, and the overall congestion impact assessment value corresponding to the current candidate cross-lane scheduling scheme is compared with the congestion assessment threshold. When the overall congestion impact assessment value is less than or equal to the congestion assessment threshold, the congestion impact assessment result of the current candidate cross-lane scheduling scheme is determined to be acceptable. When the overall congestion impact assessment value is greater than the congestion assessment threshold, the congestion impact assessment result of the current candidate cross-lane scheduling scheme is determined to be unacceptable; the congestion impact assessment result is used as the basis for determining cross-lane access control at the subsequent scheduling level.

6. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 5, characterized in that, When the congestion impact assessment result is acceptable, the cross-lane access control includes: Mark the current candidate cross-lane scheduling scheme as an admission status; The shared access resources involved are based on the estimated occupancy time in the candidate cross-lane scheduling scheme. Compared with the expected number of Make temporary reservations or hold up of resources; At the earliest feasible moment when the resource reservation conditions are met, determine and allocate the specific start time or execution period of the target CTU; The admission status and corresponding execution time are used as the basis for issuing task execution instructions, which are then sent to the corresponding target CTU and the scheduling plan of the CTU cluster is updated. During the execution of the target CTU, the reservation of resources is monitored based on real-time operational status information, and subsequent rescheduling is triggered when sudden changes occur.

7. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 5, characterized in that, When the congestion impact assessment result is unacceptable, the cross-lane access control includes alternative measures implemented according to at least one or a combination of the following: Delayed execution determines the delay time for candidate cross-tunnel scheduling schemes. And recalculate the overall congestion impact assessment value corresponding to the delayed plan. When a minimum delay exists Make At that time, the The activation time of candidate cross-lane scheduling schemes is delayed based on the congestion assessment threshold. The delayed plan was then marked as controlled access and an execution instruction was issued. Concurrent reduction, in the case of multiple target CTUs intended to pass simultaneously, from the set of target CTUs. The target CTU set is sorted in ascending order of its individual contribution to shared access resources. This represents the set of target CTUs participating in the current candidate cross-lane scheduling scheme. Target CTUs are selected sequentially and included in the subset allowed for execution. until the subset Corresponding overall congestion impact assessment value The congestion assessment threshold has been reached; only a subset is allowed. The target CTUs within the specified range are executed according to the corresponding scheduling scheme, while the remaining target CTUs are postponed or reallocated; For candidate cross-lane scheduling schemes involving high-weight shared access resources, alternative candidate cross-lane scheduling schemes are generated to replace or reroute the running path, or adjust the running order, so that the overall congestion impact assessment value of the alternative scheme is less than or equal to the congestion assessment threshold, and the alternative scheme is allowed to be executed when the alternative scheme meets the conditions. Task reassignment involves redistributing the handling tasks that need to be performed to other alternative CTUs that do not need to cross lanes, or splitting the task into multiple sub-tasks to reduce the concurrency of a single cross-lane operation. The plan is rejected and a new candidate is generated. When all the above alternative measures are not feasible, the current candidate cross-road scheduling plan is marked as unadmitted and the current candidate plan is rejected. A new candidate cross-road scheduling plan is generated for re-evaluation. The cross-lane access control results include: access status, the set of target CTUs allowed to execute, the start time or execution period allocated to the allowed target CTUs, and the identifier of the alternative scheme adopted; the access status includes access, controlled access, and non-access, and the cross-lane access control results are used as the basis for subsequent task issuance and real-time scheduling adjustments.

8. The method for cross-lane collaborative scheduling and congestion control of a CTU cluster as described in claim 7, characterized in that, Based on the cross-tunnel access control results, the CTU cluster is coordinated and scheduled, and corresponding task execution instructions are issued, specifically including: The coordinated scheduling refers to a scheduling method that uniformly coordinates the task execution order, running path, or execution timing of multiple CTUs within a CTU cluster. The coordinated scheduling process includes: Receive and parse the cross-lane access control results to determine the set of target CTUs that are allowed to be executed and their corresponding start time or execution period; For each allowed target CTU, determine the execution path and execution order, and generate the final collaborative scheduling plan; Establish or update resource reservation records for the shared access resources involved in the collaborative scheduling plan; A consistency check is performed on the collaborative scheduling plan. The consistency check includes checking for path conflicts, resource reservation conflicts, and timing conflicts, and triggering a rescheduling scheme when a conflict is found. The collaborative scheduling plan that passes the consistency check is transformed into a deployable task execution instruction and sent to the corresponding target CTU; The task execution instruction includes: target CTU identifier, task identifier, allocated start time or execution period, specified running path or path segment, expected shared access resources and their reserved time window, execution priority, and instruction version number or timestamp; the task execution instruction is used to guide the target CTU to perform the transport task according to the specified path within the specified time period.

9. A cross-lane collaborative scheduling and congestion control method for a CTU cluster as described in claim 8, characterized in that, The rescheduling scheme specifically includes: Before rescheduling, the conflict types discovered through consistency checks are classified. The conflict types include path conflicts, resource reservation conflicts, and timing conflicts. For each conflict, the target CTU set involved in the conflict, the shared access resources involved, the time period in which the conflict occurred, and the priority of the conflict are identified. For each conflict, adjustment measures are generated. These measures are then ranked based on changes in the overall congestion impact assessment value, task priority, and cumulative delay. Priority is given to implementing the adjustment that minimizes the overall impact while meeting the congestion assessment threshold. Specifically, this includes: When path conflicts occur, adjustment measures include: generating alternative running paths or path segments for some conflicting CTUs; adjusting the running order of conflicting CTUs; implementing short-term controlled waiting for some CTUs; or re-executing certain tasks in segments to avoid the conflict point. When resource reservation conflicts occur, adjustment measures include: postponing or advancing the start and end times of reservations to avoid conflicts, shortening the reservation window for individual CTUs, changing some reservations to controlled reservations, and temporarily canceling and postponing some reservations. When timing conflicts occur, adjustment measures include: adjusting the task execution order to reduce peak concurrency, specifying alternative start times or execution periods for some CTUs, and assigning tasks to alternative CTUs; After the adjustment is implemented, the overall congestion impact assessment value of the relevant scheme is recalculated and a consistency check is performed. If the conflict is eliminated, the collaborative scheduling plan is updated and the adjusted execution instruction is issued. If the conflict is not eliminated, the next adjustment measure is tried or the scheme is rejected and a candidate is regenerated. When all alternative adjustments fail to reduce the assessment value to below the congestion assessment threshold, the current candidate cross-lane scheduling scheme is marked as unadmitted and a new candidate cross-lane scheduling scheme is generated for re-evaluation.

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