Vehicle control method and device, computer device, storage medium and vehicle

Abstract

This application relates to a vehicle control method, device, computer equipment, storage medium, and vehicle. By acquiring work task information, vehicle location information, and first location information of the target working machinery, the method determines whether the work task is a loading task based on the work task information. When the work task is a loading task, the method acquires vehicle information including the location information of the trailer center point. Based on the vehicle location information, work task information, second location information, and vehicle information, the method determines a first parking point so that when the vehicle stops at the first parking point, the trailer center point coincides with the projection point, enabling the target working machinery to smoothly load goods onto the vehicle's trailer and improving work efficiency.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle control method, apparatus, computer equipment, storage medium, and vehicle. Background Technology

[0002] With the development of global trade, ports, as core nodes in the logistics chain, are receiving increasing attention for their operational efficiency and safety. Port operations rely on the coordinated work of vehicles and machinery to load, unload, and transport goods.

[0003] Ports include various types of storage yards such as fixed storage yards, quay cranes, and mobile storage yards. For mobile storage yards and other highly flexible storage yards, there are no fixed operating machines or operating positions. It is necessary to rely on staff to manually direct the operation of the operating machines and vehicles to achieve coordinated operation, which results in long operation time and low operation efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle control method, device, computer equipment, storage medium, and vehicle that can automatically achieve precise docking between vehicles and operating machinery, thereby improving operating efficiency, in response to the aforementioned technical problems.

[0005] In a first aspect, this application provides a vehicle control method, applied to a vehicle located within a target area. The vehicle includes a trailer for carrying goods, and a target operating machine is also located within the target area. Both the vehicle and the target operating machine are in a ready-to-operate state. The method includes: Acquire task information, vehicle location information, and the first location information of the target machinery; among which, task information is used to indicate whether the task is a loading or unloading task. Obtain vehicle information based on task information; The first location information is projected onto the target lane to obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The parking point is determined based on the vehicle's location information, task information, secondary location information, and vehicle information. When the task information indicates that the task is loading, the vehicle information includes the location information of the trailer's center point; the parking point is the first parking point, and when the vehicle is parked at the first parking point, the trailer's center point coincides with the projection point.

[0006] Secondly, this application provides a vehicle control method, which is applied to a vehicle located within a target area, where a target working machine is also located. Both the vehicle and the target working machine are in a ready-to-operate state. The method includes: Acquire task information, vehicle location information, and the first location information of the target machinery; among which, task information is used to indicate whether the task is a loading or unloading task. Obtain vehicle information based on task information; The first location information is projected onto the target lane to obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The parking point is determined based on the vehicle's location information, task information, secondary location information, and vehicle information. When the task information indicates that the task is unloading, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the center point of the cargo coincides with the projection point.

[0007] Thirdly, this application provides a vehicle control device applied to a vehicle located within a target area. The vehicle includes a trailer for carrying goods, and a target operating machine is also located within the target area. Both the vehicle and the target operating machine are in an operational ready state. The device includes: The first information acquisition module is used to acquire work task information, vehicle location information, and the first location information of the target working machinery; wherein, the work task information is used to indicate whether the work task is a loading task or an unloading task. The first vehicle information acquisition module is used to acquire vehicle information based on the work task information; The first projection module is used to project the first location information onto the target lane and obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The first parking point determination module is used to determine the parking point based on the vehicle's location information, work task information, second location information, and vehicle information. When the task information indicates that the task is loading, the vehicle information includes the location information of the trailer's center point; the parking point is the first parking point, and when the vehicle is parked at the first parking point, the trailer's center point coincides with the projection point.

[0008] Fourthly, this application provides a vehicle control device applied to a vehicle located within a target area. The vehicle includes a trailer for carrying goods, and a target operating machine is also located within the target area. Both the vehicle and the target operating machine are in an operational ready state. The device includes: The second information acquisition module is used to acquire work task information, vehicle location information, and the first location information of the target working machinery; wherein, the work task information is used to indicate whether the work task is a loading task or an unloading task. The second vehicle information acquisition module is used to acquire vehicle information based on the work task information. The second projection module is used to project the first location information onto the target lane and obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The second parking point determination module is used to determine the parking point based on the vehicle's location information, work task information, second location information, and vehicle information. When the task information indicates that the task is unloading, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the center point of the cargo coincides with the projection point.

[0009] Fifthly, this application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0010] Sixthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods.

[0011] In a seventh aspect, this application provides a vehicle including a control terminal, the control terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0012] The aforementioned vehicle control method, device, computer equipment, storage medium, and vehicle acquire work task information, vehicle location information, and the first location information of the target machinery. Based on the work task information, it determines whether the work task is a loading task. When the work task is a loading task, it acquires vehicle information including the location information of the trailer center point. Based on the vehicle location information, work task information, second location information, and vehicle information, it determines a first parking point so that when the vehicle stops at the first parking point, the trailer center point coincides with the projection point, allowing the target machinery to smoothly load goods onto the vehicle's trailer and improving work efficiency. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating the application environment of a vehicle control method in one embodiment. Figure 2 This is a flowchart illustrating a vehicle control method in one embodiment; Figure 3 This is a schematic diagram illustrating the loading task execution process in one embodiment; Figure 4 This is a schematic diagram illustrating the unloading task execution process in one embodiment; Figure 5 This is a flowchart illustrating the vehicle control method in another embodiment; Figure 6 This is a schematic diagram of waiting work points in one embodiment; Figure 7 This is a flowchart illustrating step S210 in another embodiment; Figure 8 This is a flowchart illustrating the vehicle control method in another embodiment; Figure 9 This is a lane topology map in one embodiment; Figure 10 This is a flowchart illustrating the vehicle control method in another embodiment; Figure 11 This is a flowchart illustrating the vehicle control method in another embodiment; Figure 12 This is a flowchart illustrating the vehicle control method in another embodiment; Figure 13 This is a flowchart illustrating the vehicle control method in another embodiment; Figure 14 This is a structural block diagram of a vehicle control device in one embodiment; Figure 15 This is a structural block diagram of a vehicle control device in one embodiment; Figure 16 This is an internal structural diagram of a computer device in one embodiment; Figure 17 This is a diagram of the internal structure of a vehicle in one embodiment. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0015] The vehicle control method provided in this application can be applied to, for example... Figure 1 In the application environment shown, vehicles 110 and target operating machinery 120 can be set up within the target area.

[0016] The vehicle 110 is used to transport goods 130, and the target working machinery 120 is used to load the goods 130 onto the vehicle 110 so that the vehicle 110 can transport the goods 130; or, the target working machinery 120 is used to unload the goods 130 from the vehicle 110.

[0017] The vehicle 110 may include a trailer for carrying goods 130. For example, the vehicle 110 may be a truck or other vehicle with the function of carrying goods. In this embodiment, the vehicle 110 may be a truck, which may include a tractor unit and a trailer, wherein the tractor unit is used to provide power to pull the trailer.

[0018] Preferably, vehicle 110 can be an autonomous vehicle, such as an autonomous container truck, to save manpower and improve transportation efficiency.

[0019] The target work machinery 120 is used to load or unload goods 130. The target work machinery 120 may include, but is not limited to, forklifts and reach stackers. Preferably, the target work machinery 120 can be a mobile work machinery that can perform mobile operations in various areas within the target area, thereby improving work efficiency.

[0020] In this embodiment, the target working machine 120 loads or unloads goods by gripping the goods 130 with its robotic arm. Both the vehicle 110 and the target working machine 120 are in a ready-to-operate state.

[0021] In this embodiment, a control terminal 111 is provided inside the vehicle 110. The vehicle control method of this application can be executed by the control terminal 111. The control terminal 111 may include MCU, DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), SOC (System On Chip), or other hardware with the above functions.

[0022] Alternatively, in another embodiment, the method of this application may be executed by a server 140 that is communicatively connected to the control terminal 111. Optionally, the server 140 and the control terminal 111 may be communicatively connected via a network or other wireless communication technologies. The server 140 may be an independent server or a server cluster composed of multiple servers.

[0023] In one embodiment, such as Figure 2 As shown, a vehicle control method is provided, including the following steps: Step 110: Obtain the task information, vehicle location information, and first location information of the target machinery; wherein, the task information is used to indicate whether the task is a loading task or an unloading task. The task information may include the task type, which indicates whether the task is a loading task or an unloading task.

[0024] Loading is the task of moving goods onto vehicles, thereby enabling the transportation of goods by vehicles; unloading is the task of unloading goods from vehicles.

[0025] The vehicle's location information is used to determine the vehicle's current location, and this information can be obtained by reading the positioning device on the vehicle.

[0026] The first position information of the target machine is used to determine the current position of the target machine. When the target machine is equipped with a positioning device, the first position information can be obtained by reading the position information detected by the positioning device.

[0027] When the target machinery is not equipped with a positioning device, or when the position information detected by the positioning device of the target machinery is unreliable, the initial position information can be obtained from the perception information of the target machinery by the vehicle's cameras, radar, and other sensing devices. Specifically, the objects around the vehicle can be modeled based on the perception information, the target machinery can be identified from the surrounding objects, and the position information of the target machinery can be obtained based on the center point of the model.

[0028] Optionally, the reliability of the location information detected by the positioning device can be determined based on the reliability index of the positioning device. The reliability index may include HDOP (Horizontal Accuracy Attenuation Factor), the number of visible satellites, positioning status, etc.

[0029] For example, when the HDOP (Horizontal Precision Attenuation Factor) value exceeds a set threshold, the location information is determined to be unreliable; when the number of visible satellites is lower than a preset number, the location information is determined to be unreliable; when the positioning status is an invalid solution, the location information is determined to be unreliable.

[0030] Step 120: Obtain vehicle information based on the task information; When the task is loading, the vehicle information includes the location information of the trailer's center point. The location information of the trailer center point is used to determine the position of the trailer center point. The location information may include the size of the trailer, the size of the vehicle, and the relative positional relationship between the trailer and the vehicle.

[0031] Step 130: Project the first location information onto the target lane and obtain the second location information of the projection point; The target lane is the lane where the target work point is located; Vehicles can use onboard radar, cameras and other sensing devices to capture information about target machinery and generate a physical model. The center position of the target machinery is then determined based on the physical model, and projection is performed based on the center position of the target machinery.

[0032] Therefore, in this embodiment, by projecting the first location information onto the target lane, the projection point of the target working machinery in the target lane is obtained, and the position of the target working machinery during operation can be determined based on the projection point.

[0033] Step 140: Determine the parking point based on the vehicle's location information, task information, second location information, and vehicle information; When the task information indicates that the task is loading, the vehicle information includes the location information of the trailer's center point; the parking point is the first parking point, and when the vehicle is parked at the first parking point, the trailer's center point coincides with the projection point.

[0034] Please see Figure 3 This is a schematic diagram illustrating the loading task execution process in one embodiment of this application; as shown below. Figure 3 As shown, during the loading process, the vehicle stops and waits before the target work point. The target machinery moves to the cargo storage location, uses its robotic arm to clamp the cargo, and moves it to a lane outside the target lane, allowing the vehicle to drive in the target lane. When the vehicle moves to the parking point, the center point of the trailer coincides with the projection point of the target machinery in the target lane. The cargo clamped by the robotic arm of the target machinery can be accurately loaded onto the trailer of the vehicle, achieving precise docking between the target machinery and the vehicle and improving cargo loading efficiency.

[0035] In this embodiment, by acquiring task information, vehicle location information, and first location information of the target machinery, it is determined whether the task is a loading task. When the task is a loading task, vehicle information including the location information of the trailer center point is acquired. A first parking point is determined based on the vehicle location information, task information, second location information, and vehicle information, so that when the vehicle is parked at the first parking point, the trailer center point coincides with the projection point, allowing the target machinery to smoothly load goods onto the trailer of the vehicle, thereby improving operational efficiency.

[0036] In another embodiment, the task in step S110 can also be an unloading task.

[0037] Specifically, when the task information indicates that the task is unloading, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle stops at the second parking point, the center point of the cargo coincides with the projection point.

[0038] When the task is unloading, the target machinery is used to unload the goods from the trailer of the vehicle.

[0039] The location information of the cargo center point is used to determine the location of the cargo center point.

[0040] In an optional embodiment, the vehicle information may further include the length of the tractor unit, the dimensions of the cargo, and the relative positional relationship between the cargo and the vehicle. The positional information of the cargo center point can be determined based on the length of the tractor unit, the dimensions of the cargo, and the relative positional relationship between the cargo and the trailer.

[0041] During unloading operations, due to operator errors during loading and possible displacement during transportation, the cargo on the vehicle may not be located at the center point of the trailer. Therefore, it is necessary to ensure that the projection point of the target machinery coincides with the center point of the cargo, so as to ensure that the target machinery can accurately unload the cargo from the vehicle and improve operational efficiency.

[0042] Please see Figure 4 This is a schematic diagram of the unloading task execution process in one embodiment; as shown below. Figure 4 As shown, the vehicle loaded with goods stops before the target work point and waits for the target machinery to move to a lane other than the target lane so that the vehicle can drive in the target lane. When the vehicle moves to the parking point, the center point of the goods loaded on the vehicle coincides with the projection point of the target machinery in the target lane. The robotic arm of the target machinery can accurately clamp the goods from the trailer to unload the goods, achieving precise docking between the target machinery and the vehicle and improving the unloading efficiency of the goods.

[0043] Optionally, goods can be loaded into a cargo box for easier stacking and handling, improving the efficiency of interior space utilization. When goods are loaded into a cargo box, the center point of the goods can be the center point of the cargo box.

[0044] In this embodiment, when the task information indicates that the task is unloading, a second parking point is determined based on vehicle information including the location information of the cargo center point, task information, second location information, and vehicle information. When the vehicle stops at the second parking point, the cargo center point coincides with the projection point, thereby ensuring that the target machinery can accurately unload the cargo from the vehicle and improve work efficiency.

[0045] In the above embodiments, when both the vehicle and the target working machinery are in a ready-to-work state, the vehicle and the target working machinery can work together.

[0046] Optionally, it can be determined whether the vehicle is in a work-ready state based on its location and current status, or whether the target machinery is in a work-ready state based on its current status.

[0047] Please see Figure 5 In one embodiment, the method further includes: Step S210: Obtain the location information of the vehicle's waiting work point; The location information of the waiting work point is used to determine the location of the waiting work point.

[0048] Step S220: Determine whether the vehicle is located at the waiting work point based on the vehicle's location information and the waiting work point's location information; The waiting work point can be the location where a vehicle waits to work in conjunction with the target machinery. Optionally, the waiting work point can be an empty space near the target work point, or it can be an empty space within the target area.

[0049] Step S230: If the vehicle is located at the waiting work point, obtain the vehicle's status information, the target working machinery's status information, and the environmental information of the work area; If the vehicle is not currently at the waiting work point, it can be controlled to drive to the waiting work point to wait for work.

[0050] When the vehicle is at the waiting work point, the status information of the vehicle, the target working machinery, and the environmental information are used to further determine whether the vehicle and the target working machinery are in a ready state for collaborative operation.

[0051] Vehicle status information can include the attitude and position of the front of the vehicle and various parts of the vehicle body.

[0052] The status information of the target machinery can include its location, orientation, and the operating status of its robotic arm. Specifically, the operating status of the robotic arm can include whether it is in a lifting / lowering state or whether it is holding goods.

[0053] Environmental information is used to determine whether the work area meets the conditions for operation. Environmental information may include the size, shape, layout, and distribution of obstacles in the work area.

[0054] Step S240: Determine whether both the vehicle and the target machinery are in a ready-to-operate state based on the vehicle's status information, the target machinery's status information, and the environmental information.

[0055] Specifically, it can be determined whether the vehicle is in a work-ready state based on the vehicle's status information, whether the target working machinery is in a work-ready state based on the target working machinery's status information, and whether the work area is suitable for coordinated operation between the vehicle and the target mobile machinery based on environmental information.

[0056] Optionally, the vehicle being in a ready-to-operate state may include the vehicle being in the correct position and / or orientation. The correct position and / or orientation can be set according to actual application requirements; for example, it could be: the front and body of the vehicle are aligned, and the vehicle is not located at intersections or no-stopping zones.

[0057] The target machinery being in a ready-to-operate state can include the target machinery being in the correct position and / or orientation. The correct position and / or orientation can be set according to actual application requirements; for example, it could be: the target machinery is facing the target work point and is at a set distance from the target work point, with the operating arm holding the cargo box and in a raised position.

[0058] The work area allows vehicles and targets to work together, and the work conditions can be set according to whether the environmental information meets the work conditions.

[0059] Optionally, the operating conditions can be that the driving area and the working area of ​​the operating area meet the preset size, so that the vehicle and the target mobile operating machinery can operate independently without interfering with each other; or, the operating conditions can be that there are no obstacles in the operating area that affect the operation.

[0060] And / or, operating conditions may include the minimum safe distance between the vehicle and the target mobile machinery, the minimum safe distance between the vehicle and other objects in the operating area, and the minimum safe distance between the target mobile machinery and other objects in the operating area, etc. The minimum safe distance is the minimum distance that ensures that the two will not collide.

[0061] Determining whether a work area is suitable for operation based on working conditions can ensure that vehicles and target mobile machinery do not collide when working together, thus improving operational safety.

[0062] In this embodiment, by obtaining the vehicle's third location information, it is determined whether the vehicle is located at the waiting work point based on the third location information; If the vehicle is located at the waiting work point, the status information of the vehicle, the target working machinery, and the environmental information of the work area can be obtained. Based on the status information of the vehicle, the target working machinery, and the environmental information, it can be determined whether the vehicle and the target working machinery are both in a work-ready state, which can improve the safety of the coordinated operation of the vehicle and the target working machinery.

[0063] In one embodiment, determining whether both the vehicle and the target machinery are in a work-ready state based on vehicle status information, target machinery status information, and environmental information includes: If it cannot be determined whether the vehicle and the target machinery are both in a ready-to-work state based on the vehicle status information, the target machinery status information, and the environmental information, a confirmation request is sent to the remote control center. The confirmation information returned by the remote control center is used to confirm whether the vehicle and the target machinery are both in a ready-to-work state.

[0064] When the vehicle's status information, the target machinery's status information, and environmental information cannot determine whether the vehicle and the target machinery are in a ready-to-work state—for example, when the vehicle's field of vision is poor, or when the perceived status information of the target machinery is incorrect, making it impossible to accurately identify whether the target machinery is in a ready-to-work state—a confirmation request is sent to the remote control center. The staff at the remote control center then conduct a manual confirmation. Based on the confirmation information returned by the remote control center, it is determined that both the vehicle and the target machinery are in a ready-to-work state.

[0065] In this embodiment, when it is impossible to determine whether both the vehicle and the target machinery are in a ready-to-work state based on the vehicle's status information, the target machinery's status information, and the environmental information, a confirmation request is sent to the remote control center. The confirmation information returned by the remote control center confirms whether both the vehicle and the target machinery are in a ready-to-work state. Compared to having the entire process of manually directing the docking of the vehicle and the target machinery, in this application, the staff only needs to perform manual confirmation at key nodes, reducing the frequency of manual intervention and reliance on manual labor. This can automatically realize an automated closed loop for the collaborative operation of the vehicle and the target machinery, improving work efficiency.

[0066] Please see Figure 6 This is a schematic diagram of a waiting job point in one embodiment; as shown below. Figure 6 As shown, the waiting task point 210 can be located before the target task point, for example, it can be a point that is traced back a certain distance from the target task point.

[0067] like Figure 7 As shown, in one embodiment, the task information may further include the location information of the target task point, which is used to determine the target task point; obtaining the waiting task point location information of the vehicle includes: Step S211: Based on the lane topology map of the target area, determine at least one first candidate lane that connects to the target work point; Lane topology maps are used to determine the connectivity between lanes in a target area.

[0068] The first candidate lane is the lane that connects to the target work point.

[0069] Step S212: Based on the location information of the target work point and the preset backtracking distance, determine the backtracking point of the target work point in each first candidate lane; The backtracking point is the point where the target work point is traced back a preset backtracking distance. The backtracking distance can be set according to the work requirements and the size of the machinery. In this embodiment, the backtracking distance can be 15 meters.

[0070] Preferably, when the vehicle is at the waiting work point, the vehicle can use its onboard radar, cameras and other sensing devices to check the status of the target work point and the target machinery. At the same time, the vehicle's location at the waiting work point will not hinder the operation of the target machinery.

[0071] Step S213: Based on the preset no-stopping zone information and lane priority sorting conditions, the backtracking point with the highest priority ranking in the first candidate lane that does not belong to the no-stopping zone is taken as the waiting point for the vehicle; wherein, the lane priority sorting conditions are used to determine the priority ranking of each first candidate lane.

[0072] No-parking zone information is used to identify no-parking zones where parking is prohibited. No-parking zones can include intersections, areas where parking is unsafe, or areas that may obstruct operations. No-parking zone information may include the location of the no-parking zone.

[0073] Optionally, lane priority ranking criteria can include the priority order of different types of lanes, for example, the priority of a straight lane is higher than the priority of a right-turn lane, and the priority of a right-turn lane is higher than the priority of a left-turn lane.

[0074] Alternatively, in another embodiment, the lane priority ranking conditions may also include whether the status of the target work point can be easily confirmed from the backtracking point, whether the backtracking point is convenient for driving to the target work point to pull over and straighten, etc.

[0075] For example, when there are multiple right-turn lanes that can reach the target work point, the first lane can be selected to more easily determine the status of the target work point, or a lane with a more left-leaning curve and a gentler curve can be selected to facilitate driving to the target work point and parking straight. The specific waiting work point can be determined according to the actual application situation.

[0076] Optionally, lanes can be determined first according to lane priority sorting conditions, and then it can be determined whether the backtracking point of the lane belongs to the no-stopping zone. If the backtracking point is in the no-stopping zone, the backtracking can continue to be performed according to the preset backtracking distance until a backtracking point that does not belong to the no-stopping zone is obtained.

[0077] Optionally, the cumulative distance of multiple backtrackings should be within the maximum distance threshold to ensure that vehicles parked at the waiting work point can perceive the status of the target work point and the target work machinery. When the cumulative distance of multiple backtrackings exceeds the maximum distance threshold, the lane can be re-determined according to the lane priority sorting conditions, and then it can be determined whether the backtracking point of that lane belongs to the no-stopping zone. If the backtracking points of all lanes do not meet the conditions, the above abnormal information is reported to the remote control center that communicates with the control terminal or server, so that the remote control center can follow up and negotiate on the abnormal information.

[0078] Step S214: Obtain the location information of the waiting work points; Among them, the location information of the waiting work points is the location information of the waiting work points.

[0079] In this embodiment of the application, at least one first candidate lane connected to the target work point is determined based on the lane topology map of the target area. The backtracking point of the target work point in each first candidate lane is determined based on the backtracking distance. Based on the preset no-stopping zone information and lane priority sorting conditions, the backtracking point that does not belong to the no-stopping zone and has the highest priority sorting of the first candidate lane is used as the waiting work point for the vehicle, thereby improving the safety and efficiency of the operation.

[0080] like Figure 8As shown, in one embodiment, before projecting the first location information onto the target lane, the method further includes: S310: Based on the lane topology map of the target area and the lane where the current vehicle is located, determine at least one second candidate lane that the current vehicle can travel to the target work point; Lane topology maps are used to show the connectivity between lanes in a target area.

[0081] The lane where the vehicle is currently located is the lane where the vehicle is currently parked. If the vehicle is currently waiting for a work point, the lane where the vehicle is currently located is the lane where the work point is located.

[0082] like Figure 9 As shown, it is a lane topology map in one embodiment. As can be seen from the figure, for target work point A, there are 4 second candidate lanes that can be driven to target work point A.

[0083] S320: Determine the target lane from at least one second candidate lane; The target lane is either a straight lane that does not require detours among at least one of the second candidate lanes, or a lane with the smallest curvature that does not require detours among at least one of the second candidate lanes.

[0084] A lane that does not require detours is a lane in which vehicles can reach their destination directly without having to make a U-turn, enter or exit an auxiliary road, or take a backtrack.

[0085] In this embodiment, based on the lane topology map of the target area and the lane where the current vehicle is located, at least one second candidate lane that the current vehicle can travel to the target work point is determined. Selecting the lane that does not require detours and is straight or that does not require detours and has the smallest curvature as the target lane can increase the speed at which the vehicle travels to the parking point, thereby improving work efficiency.

[0086] like Figure 10 As shown, in one embodiment, after determining the parking point based on the vehicle's location information, task information, second location information, and vehicle information, the method further includes: S410: Determine whether the parking spot meets the parking conditions; Among them, parking conditions are used to determine whether a parking spot is available for parking; Optionally, parking conditions can be set according to parking safety or operational safety. In an alternative embodiment, parking conditions may include the parking spot not being in a no-parking zone, which may include intersections or other areas where parking is prohibited, thereby improving vehicle safety.

[0087] In another optional embodiment, parking conditions may include the absence of obstacles in the space within a set distance range around the parking spot; or, parking conditions may include whether there is space around the parking spot that allows the vehicle to move freely. The range of space can be determined according to the length of the vehicle body and trailer, thereby ensuring that the vehicle has sufficient freedom of movement when parked at the parking spot. That is, the vehicle body will not block the road in various positions, avoiding problems such as the inability to move, turn or adjust its posture due to insufficient surrounding space, obstacles, or mismatch between its own turning radius and the channel size, resulting in vehicle jamming or failure of vehicle docking with the target working machinery.

[0088] S420: If the parking spot does not meet the parking conditions, the target lane shall be re-determined from at least one second candidate lane.

[0089] For example, if the target lane determined by the above steps is a straight lane that does not require detours, but the parking spot of the lane does not meet the parking conditions, the lane that does not require detours and has the smallest curvature can be reselected from at least one second candidate lane as the target lane. It is then determined whether the parking spot of the lane meets the parking conditions. If it does not meet the parking conditions, the lane that does not require detours and has the second smallest curvature is selected as the target lane, and so on.

[0090] In this embodiment, by determining whether the parking spot meets the parking conditions, if the parking spot does not meet the parking conditions, the target lane is re-determined from at least one second candidate lane, thereby improving parking safety.

[0091] The target area of ​​this application can be a port, and multiple operating machines can be set up within the target area; the target operating machines can be selected from multiple mobile operating machines.

[0092] The vehicle includes sensing devices such as radar and cameras, which are used to acquire status information of multiple operating machines within the sensing range.

[0093] like Figure 11 As shown, in one embodiment, the method of this application further includes: S510: Acquire status information of multiple operating machines within the sensing range of the sensing device; The status information includes the distance between the operating machinery and the target operating point, the angle between the operating direction of the operating machinery and the normal direction of the operating surface at the operating point, motion status information, the status of the robotic arm, and cargo loading information; the motion status information is used to determine whether the operating machinery is in motion, and the cargo loading information is used to determine whether the operating machinery is loaded with cargo. Status information can be information detected in real time by sensing devices.

[0094] S520: According to the preset status scoring information, obtain the score value of each status of the working machine based on the status information; Status rating information is used to score various states of the operating machinery. The smaller the distance between the operating machinery and the target working point, the higher the corresponding score value. The smaller the angle between the operating direction of the operating machinery and the normal direction of the working surface at the target working point, the higher the corresponding score value. Motion status information is used to exclude operating machinery that is in motion.

[0095] The state of the robotic arm is used to determine the state of the robotic arm of the working machine, such as whether the robotic arm is raised or lowered.

[0096] Cargo loading information is used to exclude operating machinery whose cargo loading status does not correspond to the job task; for example, when the job task is unloading, operating machinery loaded with cargo is excluded.

[0097] The status of the robotic arm and the cargo loading information are used to determine which operating machinery meets the requirements of the task. For example, when the task is loading, the task requires the operating machinery to raise the robotic arm and lift the cargo; when the task is unloading, the task requires the operating machinery to raise the robotic arm and not load any cargo.

[0098] S530: Obtain the total score based on the score values ​​of each state of the working machine, and select the working machine with the highest total score as the target working machine.

[0099] Optionally, different weights can be assigned to each state, and the total score can be obtained based on the score of each state and its corresponding weight.

[0100] For operating machinery that is in motion, or when the loading status of the goods or the status of the robotic arm does not correspond to the task, the score value corresponding to that status can be zero or a preset value, so that the total score value of the operating machinery is minimized. This can avoid using the operating machinery as the target operating machinery and avoid the problem of abnormal operation.

[0101] A higher overall score indicates that the machine not only meets the requirements of the task, but is also closer to the target work point than other machines that meet the requirements. The working direction is also closer to the normal direction of the working surface at the target work point, making the work more convenient. Using a machine with a high overall score as the target machine can improve work efficiency.

[0102] In the above embodiments, the status information of each working machine can be updated in real time or according to a set update cycle. The updated status information is re-scored, and the working machine with the highest total score is selected as the target working machine, thereby realizing the dynamic switching of the target working machine.

[0103] In this embodiment, according to the preset state scoring information, the score value of each state of the working machine is obtained based on the state information, and the total score value is obtained based on the score value of each state of the working machine. The working machine with the highest total score value is selected as the target working machine, thereby enabling accurate identification of the target working machine in multi-working machine scenarios and improving work efficiency.

[0104] like Figure 12 As shown, in one embodiment, the method further includes: S610: In response to the job completion command, generate a departure path for driving to the next waiting job point; The task completion instruction is used to indicate that the current task has been completed.

[0105] The next waiting work point is not within the conflict zone; the conflict zone includes the work area and the no-stopping zone. The departure path is used to control vehicles to leave the current work area in order to avoid conflicts between vehicles and other machinery, vehicles or equipment in the work area.

[0106] S620: Control the vehicle to the next waiting work point according to the departure path.

[0107] Preferably, when the task information for the next task is received, the next waiting point is determined based on the task information, and the vehicle is controlled to drive directly to the next waiting point to wait for the next task to be executed, thereby improving work efficiency.

[0108] In this embodiment, a departure path is generated in response to the work completion command to drive to the next waiting work point. The vehicle is controlled to drive to the next waiting work point that is not in the work area, no-stopping zone or other conflict area according to the departure path, so as to avoid the vehicle from conflicting with the work machinery, other vehicles or equipment in the work area and improve the operational safety.

[0109] In one embodiment, the method further includes: When an abnormal event is detected, exception handling is performed according to the preset exception handling strategy; Abnormal events include: the vehicle and / or the target machinery is not in a ready-to-work state after the target time has elapsed; the vehicle and / or the target machinery is unable to move to the work position; or the target machinery is in an abnormal state. The anomaly handling strategy includes: continuing to monitor whether both the vehicle and the target machinery are in a ready-to-work state, switching the target work point to a preset suboptimal work point, sending adjustment instructions to the target machinery, and sending a confirmation request to the remote control center; wherein, the adjustment instructions are used to adjust the status of the target machinery.

[0110] Optionally, abnormal events may also include other events that affect the normal operation of the vehicle and the target machinery.

[0111] The target time can be a relatively long period of time preset by the user. If the target time is exceeded, it is considered that the vehicle and the target working machinery have not been in a working ready state for an extended period of time, and an abnormal event is generated.

[0112] The work location can be the location where the vehicle and the target machinery work together. For example, for a vehicle, the work location can be the vehicle's parking spot.

[0113] An abnormal state of the target machinery could be due to it being in a moving state or in an abnormal position. When the target machinery is in a moving state or in an abnormal position, it is prone to collisions with vehicles or blocking roads and affecting vehicle traffic.

[0114] The suboptimal work point can be a work point that the user has set in advance. For work points with limited space and difficult operation, the suboptimal work point can be set in advance and can be switched to in time when the current target work point cannot be reached in order to meet the work execution requirements.

[0115] In one embodiment, the target area is a bay location area determined based on the target work point; the target work machinery is a mobile work machinery that operates within the bay location area.

[0116] The bay area is the area determined based on the target work point.

[0117] Optionally, the method of this application can be applied to the port temporary yard scenario, performing structured modeling of the port temporary yard, dividing it into multiple standardized bay area regions based on the bay space information of the port temporary yard, and allowing mobile machinery to operate in the bay area regions. By adding structured constraints to the highly free mobile machinery, the uncertainty in scenarios with multiple vehicles and multiple operating machinery operating together can be reduced. This method can be applied to quay crane collaboration, yard crane collaboration, or other human-machine hybrid operation scenarios, realizing an efficient, stable, and low-manual-dependent automated operation closed loop in complex dynamic environments.

[0118] like Figure 13 As shown, this application also provides a vehicle control method, which is applied to a vehicle located within a target area, where a target working machine is also provided. Both the vehicle and the target working machine are in a working-ready state. The method includes: S710: Acquire task information, vehicle location information, and first location information of the target machinery; wherein, task information is used to indicate whether the task is a loading or unloading task. S720: Obtain vehicle information based on task information; S730: Project the first location information onto the target lane and obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; S740: Determines the parking point based on the vehicle's location information, task information, secondary location information, and vehicle information; When the task information indicates that the task is unloading, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the center point of the cargo coincides with the projection point.

[0119] It should be noted that the method in this embodiment is similar to the method in the above embodiments, except that the vehicle information and parking point obtained are different. The specific execution process of each step can be found in the description of the above embodiments, and will not be repeated here.

[0120] It should be understood that, although Figure 2 , 5 The steps in flowcharts 7-8 and 10-13 are shown sequentially as indicated by the arrows; however, these steps are not necessarily executed in the exact order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order requirement for the execution of these steps, and they can be performed in other orders. Furthermore, Figure 2 , 5 At least some of the steps in 7-8 and 10-13 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0121] In one embodiment, such as Figure 14 As shown, a vehicle control device is provided, applied to a vehicle located within a target area. The vehicle includes a trailer for carrying goods, and a target operating machine is also located within the target area. Both the vehicle and the target operating machine are in an operational ready state. The device includes: The first information acquisition module 310 is used to acquire work task information, vehicle location information, and the first location information of the target working machinery; wherein, the work task information is used to indicate whether the work task is a loading task or an unloading task. The first vehicle information acquisition module 320 is used to acquire vehicle information based on the work task information; The first projection module 330 is used to project the first location information onto the target lane and obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The first parking point determination module 340 is used to determine the parking point based on the vehicle's location information, work task information, second location information, and vehicle information. When the task information indicates that the task is loading, the vehicle information includes the location information of the trailer's center point; the parking point is the first parking point, and when the vehicle is parked at the first parking point, the trailer's center point coincides with the projection point.

[0122] In one embodiment, when the task information indicates that the task is unloading, the vehicle information includes the location information of the cargo center point; the parking point is the second parking point, and when the vehicle stops at the second parking point, the cargo center point coincides with the projection point.

[0123] In one embodiment, the apparatus further includes: The location information acquisition module is used to acquire the location information of the vehicle's waiting work point; The vehicle location determination module is used to determine whether a vehicle is located at a waiting work point based on the vehicle's location information and the location information of the waiting work point. The status information acquisition module is used to acquire the status information of the vehicle, the status information of the target machinery, and the environmental information of the work area if the vehicle is located at a waiting work point. The job readiness determination module is used to determine whether both the vehicle and the target machinery are in a job readiness state based on the vehicle's status information, the target machinery's status information, and environmental information.

[0124] In one embodiment, the task information includes the location information of the target task point, which is used to determine the target task point; the location information acquisition module further includes: The first candidate lane determination unit is used to determine at least one first candidate lane that connects to the target work point based on the lane topology map of the target area. The backtracking point determination unit is used to determine the backtracking point of the target work point in each first candidate lane based on the location information of the target work point and the preset backtracking distance; The waiting work point determination unit is used to determine the backtracking point with the highest priority ranking in the first candidate lane that does not belong to the no-stopping zone, based on preset no-stopping zone information and lane priority ranking conditions; wherein, the lane priority ranking conditions are used to determine the priority ranking of each first candidate lane. The location information acquisition unit is used to acquire the location information of the waiting work points; wherein, the location information of the waiting work points is the location information of the waiting work points.

[0125] In one embodiment, the job readiness determination module is used to send a confirmation request to the remote control center if it cannot be determined whether the vehicle and the target working machinery are both in a job readiness state based on the vehicle's status information, the target working machinery's status information, and the environmental information, and to confirm whether the vehicle and the target working machinery are both in a job readiness state based on the confirmation information returned by the remote control center.

[0126] In one embodiment, the apparatus further includes: The second candidate lane determination module is used to determine at least one second candidate lane that the current vehicle can travel to the target work point based on the lane topology map of the target area and the lane where the current vehicle is located. The target lane determination module is used to determine the target lane from at least one second candidate lane; The target lane is either a straight lane that does not require detours among at least one of the second candidate lanes, or a lane with the smallest curvature that does not require detours among at least one of the second candidate lanes.

[0127] In one embodiment, the first parking point determination module further includes: The parking spot determination unit is used to determine whether a parking spot meets the parking conditions; among which, the parking conditions are used to determine whether parking is permitted at the parking spot. The target lane determination unit is used to re-determine the target lane from at least one second candidate lane if the parking point does not meet the parking conditions.

[0128] In one embodiment, the target area is further equipped with multiple operating machines; the vehicles include sensing devices; the device also includes: The machine status information acquisition module is used to acquire the status information of multiple machines within the sensing range of the sensing device. The status information includes the distance between the machine and the target work point, the angle between the working direction of the machine and the normal direction of the working surface at the target work point, motion status information, the status of the robotic arm, and cargo loading information. The motion status information is used to determine whether the machine is in motion, and the cargo loading information is used to determine whether the machine is loaded with cargo. The scoring module is used to obtain the score value of each state of the working machine according to the preset state scoring information. Among them, the smaller the distance between the working machine and the target working point, the higher the corresponding score value; the smaller the angle between the working direction of the working machine and the normal direction of the working surface at the target working point, the higher the corresponding score value. The target machine determination module is used to obtain a total score based on the score values ​​of each state of the machine, and select the machine with the highest total score as the target machine.

[0129] In one embodiment, the apparatus further includes: The departure path generation module is used to generate a departure path for driving to the next waiting work point in response to the work completion command; wherein the next waiting work point is not in a conflict zone; the conflict zone includes the work area and the no-stopping zone; The vehicle control module is used to control the vehicle to travel to the next waiting work point according to the departure path.

[0130] For specific limitations regarding the vehicle control device, please refer to the limitations on the vehicle control method above, which will not be repeated here. Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0131] In one embodiment, such as Figure 15 As shown, a vehicle control device is provided, applied to a vehicle located within a target area. The vehicle includes a trailer for carrying goods, and a target operating machine is also located within the target area. Both the vehicle and the target operating machine are in an operational ready state. The device includes: The second information acquisition module 410 is used to acquire work task information, vehicle location information, and first location information of the target working machinery; wherein, the work task information is used to indicate whether the work task is a loading task or an unloading task. The second vehicle information acquisition module 420 is used to acquire vehicle information based on the work task information. The second projection module 430 is used to project the first location information onto the target lane and obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The second parking point determination module 440 is used to determine the parking point based on the vehicle's location information, the work task information, the second location information, and the vehicle information. When the task information indicates that the task is unloading, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the center point of the cargo coincides with the projection point.

[0132] For specific limitations regarding the vehicle control device, please refer to the limitations on the vehicle control method above, which will not be repeated here. Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0133] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 16 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

[0134] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0135] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0136] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0137] like Figure 17 As shown, a vehicle 500 is provided, including a control terminal 510. The control terminal 510 includes a memory 511, a processor 512, and a computer program stored in the memory 511 and executable on the processor 512. When the processor 512 executes the computer program, it implements the steps of any of the above methods.

[0138] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0139] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method is applied to vehicles located within a target area, the vehicles including trailers for carrying goods, and target operating machinery is also located within the target area. Both the vehicles and the target operating machinery are in a ready-to-operate state. The method includes: The system acquires task information, vehicle location information, and first location information of the target machinery; wherein the task information indicates whether the task is a loading or unloading task. Obtain vehicle information based on the aforementioned task information; The first location information is projected onto the target lane to obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The parking point is determined based on the vehicle's location information, the task information, the second location information, and the vehicle information. Wherein, when the task information indicates that the task is a loading task, the vehicle information includes the location information of the trailer center point; the parking point is the first parking point, and when the vehicle is parked at the first parking point, the trailer center point coincides with the projection point.

2. The method according to claim 1, characterized in that, When the task information indicates that the task is unloading, the vehicle information includes the location information of the cargo center point; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the cargo center point coincides with the projection point.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the location information of the waiting work point of the vehicle; Based on the vehicle's location information and the waiting work point's location information, determine whether the vehicle is located at the waiting work point; If the vehicle is located at a waiting work point, acquire the vehicle's status information, the target working machinery's status information, and the environmental information of the work area; Based on the vehicle's status information, the target machinery's status information, and the environmental information, it is determined whether both the vehicle and the target machinery are in a ready-to-operate state.

4. The method according to claim 3, characterized in that, The task information includes the location information of the target task point, which is used to determine the target task point. The step of obtaining the waiting work point location information of the vehicle includes: Based on the lane topology map of the target area, determine at least one first candidate lane that connects to the target work point; Based on the location information of the target work point and the preset backtracking distance, determine the backtracking point of the target work point in each first candidate lane; Based on the preset no-stopping zone information and lane priority ranking conditions, the backtracking point with the highest priority ranking in the first candidate lane that does not belong to the no-stopping zone is taken as the waiting point for the vehicle; wherein, the lane priority ranking conditions are used to determine the priority ranking of each first candidate lane. Obtain the location information of the waiting work point; wherein, the location information of the waiting work point is the location information of the waiting work point.

5. The method according to claim 3, characterized in that, Determining whether both the vehicle and the target machinery are in a ready-to-operate state based on the vehicle's status information, the target machinery's status information, and the environmental information includes: If it cannot be determined whether the vehicle and the target machinery are both in a ready-to-work state based on the vehicle's status information, the target machinery's status information, and the environmental information, a confirmation request is sent to the remote control center. The confirmation information returned by the remote control center confirms whether the vehicle and the target machinery are both in a ready-to-work state.

6. The method according to claim 1, characterized in that, Before projecting the first location information onto the target lane, the method further includes: Based on the lane topology map of the target area and the lane where the current vehicle is located, at least one second candidate lane is determined that the current vehicle can travel to the target work point; The target lane is determined from the at least one second candidate lane; The target lane is either the lane that does not require detours and is a straight lane among the at least one second candidate lane, or the target lane is the lane that does not require detours and has the smallest curvature among the at least one second candidate lane.

7. The method according to claim 6, characterized in that, Determining the parking point based on the vehicle's location information, the task information, the second location information, and the vehicle information further includes: Determine whether the parking spot meets the parking conditions; wherein, the parking conditions are used to determine whether the parking spot is suitable for parking; If the parking spot does not meet the parking conditions, the target lane is re-determined from the at least one second candidate lane.

8. The method according to claim 1, characterized in that, The target area is equipped with multiple operating machines; the vehicles include sensing devices; the method further includes: The system acquires status information of multiple operating machines within the sensing range of the sensing device; wherein, the status information includes the distance between the operating machine and the target operating point, the angle between the operating direction of the operating machine and the normal direction of the operating surface at the target operating point, motion status information, the status of the robotic arm, and cargo loading information; the motion status information is used to determine whether the operating machine is in motion, and the cargo loading information is used to determine whether the operating machine is loaded with cargo. According to the preset status scoring information, the score value of each status of the working machine is obtained based on the status information; wherein, the smaller the distance between the working machine and the target working point, the higher the corresponding score value; the smaller the angle between the working direction of the working machine and the normal direction of the working surface at the target working point, the higher the corresponding score value. The total score is obtained based on the score values ​​of each state of the working machine, and the working machine with the highest total score is selected as the target working machine.

9. The method according to claim 1, characterized in that, The method further includes: In response to a job completion command, a departure path is generated for driving to the next waiting job point; wherein, the next waiting job point does not belong to a conflict zone; the conflict zone includes the work area and the no-stopping zone; The vehicle is controlled to travel to the next waiting work point according to the departure path.

10. A vehicle control method, characterized in that, The method is applied to vehicles located within a target area, where a target operating machine is also located. Both the vehicle and the target operating machine are in a ready-to-operate state. The method includes: The system acquires task information, vehicle location information, and first location information of the target machinery; wherein the task information indicates whether the task is a loading or unloading task. Obtain vehicle information based on the aforementioned task information; The first location information is projected onto the target lane to obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The parking point is determined based on the vehicle's location information, the task information, the second location information, and the vehicle information. Wherein, when the task information indicates that the task is an unloading task, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the center point of the cargo coincides with the projection point.

11. A vehicle control device, characterized in that, The device is applicable to vehicles located within a target area, the vehicles including trailers for carrying goods, and target operating machinery is also located within the target area. Both the vehicles and the target operating machinery are in a ready-to-operate state. The device includes: The first information acquisition module is used to acquire work task information, the location information of the vehicle, and the first location information of the target working machinery; wherein, the work task information is used to indicate whether the work task is a loading task or an unloading task. The first vehicle information acquisition module is used to acquire vehicle information based on the task information. The first projection module is used to project the first location information onto the target lane to obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The first parking point determination module is used to determine a parking point based on the vehicle's location information, the work task information, the second location information, and the vehicle information; wherein, when the work task information indicates that the work task is a loading task, the vehicle information includes the location information of the trailer's center point; the parking point is the first parking point, and when the vehicle is parked at the first parking point, the trailer's center point coincides with the projection point.

12. A vehicle control device, characterized in that, The device is applicable to vehicles located within a target area, the vehicles including trailers for carrying goods, and target operating machinery is also located within the target area. Both the vehicles and the target operating machinery are in a ready-to-operate state. The device includes: The second information acquisition module is used to acquire work task information, the location information of the vehicle, and the first location information of the target working machinery; wherein, the work task information is used to indicate whether the work task is a loading task or an unloading task. The second vehicle information acquisition module is used to acquire vehicle information based on the task information. The second projection module is used to project the first location information onto the target lane to obtain the second location information of the projection point; wherein, the target lane is the lane where the target work point is located; The second parking spot determination module is used to determine the parking spot based on the vehicle's location information, the task information, the second location information, and the vehicle information. Wherein, when the task information indicates that the task is an unloading task, the vehicle information includes the location information of the center point of the cargo; the parking point is the second parking point, and when the vehicle is parked at the second parking point, the center point of the cargo coincides with the projection point.

13. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 10.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

15. A vehicle, characterized in that, The method includes a control terminal, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

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