Automatic driving flat car for port
By integrating millimeter-wave radar, lidar, and cameras onto an autonomous driving flatbed vehicle, and combining them with GPS and vehicle-to-everything (V2X) modules, magnetic nail-free navigation and bidirectional driving are achieved, solving the problem of low flexibility in traditional magnetic nail navigation and improving port operation efficiency.
Patent Information
- Application Number
- CN202422181359.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2025-11-18
- Estimated Expiration
- 2034-09-05
AI Technical Summary
Traditional magnetic nail navigation-based autonomous flatbed trucks have low path flexibility in port environments and cannot adapt to changes in the position of gantry cranes, resulting in frequent changes to the mission endpoint, causing port congestion and resource waste.
The vehicle employs millimeter-wave radar and lidar distributed at the four corners of the vehicle body for all-round detection, combined with front and rear cameras to identify targets. The vehicle body movement is controlled by a controller to achieve magnetic nail-free navigation. Furthermore, by combining GPS, inertial measurement unit and vehicle networking module, the autonomous flatbed vehicle can achieve bidirectional driving and flexible path planning.
It improves the route flexibility of autonomous flatbed trucks, reduces congestion caused by changes in the task destination, shortens travel time, and improves operational efficiency.
Smart Images
Figure CN223559774U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of artificial intelligence, and particularly relates to an automatic driving flat car for a port. BACKGROUND
[0002] With the development of unmanned driving technology, the automatic driving flat car is favored in a relatively closed working environment such as a port, and the automatic driving flat car is often used to transfer containers on a ship in cooperation with a bridge crane in the port. When the automatic driving flat car is working, the navigation mode of the flat car is magnetic nail navigation. The magnetic nail navigation refers to that magnetic nails are arranged at certain intervals according to path planning, a magnetic ruler sensor is arranged in front of the automatic driving flat car, and the automatic driving flat car determines a travel path by detecting a magnetic signal emitted by the magnetic nail through the magnetic ruler sensor.
[0003] Once the magnetic nail is laid, the planned route cannot be changed, but the position of the bridge crane in the port often changes with the position of the containers on the ship, so that the end point of the path of the automatic driving flat car also often changes with the change of the position of the bridge crane. Therefore, in the case that the end point of the path of the automatic driving flat car often changes, the magnetic nail navigation is not flexible and has low reusability. CONTENT OF THE UTILITY MODEL
[0004] In view of the above problems, the present application provides an automatic driving flat car for a port to solve the problems existing in the magnetic nail navigation. The specific scheme is as follows:
[0005] The first aspect of the present application provides an automatic driving flat car for a port, which comprises a vehicle body, a controller, a first millimeter wave radar, a second millimeter wave radar, a third millimeter wave radar, a fourth millimeter wave radar, a first camera and a second camera, wherein the first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera and the second camera are in communication connection with the controller.
[0006] The first millimeter wave radar is arranged at the left front corner region of the vehicle body, the second millimeter wave radar is arranged at the left rear corner region of the vehicle body, the third millimeter wave radar is arranged at the right front corner region of the vehicle body, and the fourth millimeter wave radar is arranged at the right rear corner region of the vehicle body.
[0007] The first camera is arranged at the front end of the vehicle body, and the second camera is arranged at the rear end of the vehicle body.
[0008] The controller is further electrically connected with a driving motor arranged in the vehicle body, and the driving motor has a forward rotation mode and a reverse rotation mode.
[0009] In a possible implementation, the automatic driving flat car for the port further includes a first laser radar, a second laser radar, a third laser radar, and a fourth laser radar.
[0010] The first laser radar is arranged at a left front corner region of the vehicle body, the second laser radar is arranged at a left rear corner region of the vehicle body, the third laser radar is arranged at a right front corner region of the vehicle body, and the fourth laser radar is arranged at a right rear corner region of the vehicle body.
[0011] The first laser radar, the second laser radar, the third laser radar, and the fourth laser radar are in communication connection with the controller.
[0012] In a possible implementation, the automatic driving flat car for the port further includes a first antenna and a second antenna.
[0013] The first antenna is arranged at a left front corner region of the vehicle body, and the second antenna is arranged at a right front corner region of the vehicle body.
[0014] The first antenna and the second antenna are in communication connection with the controller.
[0015] In a possible implementation, the controller includes a positioning module, a map module, a navigation module, a decision module, and a control module.
[0016] The positioning module and the map module are in communication connection with the navigation module.
[0017] The navigation module is in communication connection with the decision module.
[0018] The decision module is in communication connection with the control module.
[0019] The control module is in electrical connection with a driving motor arranged in the vehicle body.
[0020] In a possible implementation, the first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera, and the second camera are in communication connection with the controller, including:
[0021] The first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera, and the second camera are in communication connection with the decision module.
[0022] In a possible implementation, the first laser radar, the second laser radar, the third laser radar, and the fourth laser radar are in communication connection with the controller, including:
[0023] The first laser radar, the second laser radar, the third laser radar and the fourth laser radar are in communication connection with the decision module.
[0024] In a possible implementation, the first antenna and the second antenna are in communication connection with the controller, and the controller comprises:
[0025] The first antenna and the second antenna are in communication connection with the decision module.
[0026] In a possible implementation, the automatic driving flat car for a port further comprises a vehicle networking module.
[0027] The vehicle networking module is in communication connection with the decision module.
[0028] In a possible implementation, the positioning module comprises at least one of a GPS module, a Beidou satellite navigation module and a Galileo satellite navigation module.
[0029] In a possible implementation, an inertial measurement unit (IMU) is further included.
[0030] The IMU is in communication connection with the positioning module.
[0031] According to the technical solution, the automatic driving flat car for a port provided by the present application can detect information around the vehicle body in all directions through the millimeter wave radars distributed at four corners of the vehicle body, and can recognize targets that cannot be recognized by the millimeter wave radars through the cameras arranged at the front and the back of the vehicle body, thereby assisting in detecting information around the vehicle body. The millimeter wave radars and the cameras are in communication connection with the controller, so that the millimeter wave radars and the cameras can send the acquired information to the controller, and the controller can control the movement of the vehicle body. The automatic driving flat car in the present application can work without relying on magnetic nail navigation, and can provide the controller with information around the vehicle body according to the millimeter wave radars and the cameras arranged on the vehicle body, and the controller can control the movement of the vehicle body. BRIEF DESCRIPTION OF DRAWINGS
[0032] The above and other features, advantages, and aspects of the present disclosure will become more apparent by describing in detail the following specific embodiments in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals indicate the same or similar elements. It should be understood that the drawings are schematic, and the original and elements are not necessarily drawn according to the scale.
[0033] Figure 1 A structural schematic diagram of an automatic driving flat car for a port provided by an embodiment of the present application;
[0034] Figure 2 A structural schematic diagram of another automatic driving flat car for a port provided by an embodiment of the present application;
[0035] Figure 3 A structural schematic diagram of a controller provided in an embodiment of the present application.
[0036] Reference signs:
[0037] 1 - vehicle body; 2 - controller; 3 - first millimeter wave radar; 4 - second millimeter wave radar; 5 - third millimeter wave radar; 6 - fourth millimeter wave radar; 7 - first camera; 8 - second camera; 9 - driving motor; 10 - first laser radar; 11 - second laser radar; 12 - third laser radar; 13 - fourth laser radar; 14 - positioning module; 15 - map module; 16 - navigation module; 17 - decision module; 18 - control module; 19 - inertial measurement unit. DETAILED DESCRIPTION
[0038] The embodiments of the present application are described below in conjunction with the accompanying drawings. The terms used in the embodiment part of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.
[0039] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art can know that, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.
[0040] The terms "first", "second", and the like in the specification of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is only a distinguishing way used in the description of the embodiments of the present application to describe the objects with the same attribute. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the process, method, system, product or equipment including a series of units is not necessarily limited to those units, but can include other units not clearly listed or inherent to these processes, methods, products or equipment.
[0041] With the development of unmanned driving technology, low-speed automatic driving flat cars are favored in relatively closed working environments such as ports, and are often used to transfer containers on ships in cooperation with port cranes. The traditional magnetic nail navigation is a navigation scheme commonly used for automatic driving flat cars in ports. The magnetic nail navigation is according to path planning, arranging magnetic nails at a certain interval, arranging a magnetic ruler sensor in front of the automatic driving flat car, and the automatic driving flat car determines the travel path by detecting the magnetic signal emitted by the magnetic nail through the magnetic ruler sensor. Once the magnetic nail is laid, the route cannot be changed again, the reusability of the route is low, it is not flexible enough, and the manual laying cost of the magnetic nail is high, which is difficult to maintain.
[0042] Because the magnetic scale sensor is only located at the front of the vehicle, this autonomous flatbed truck cannot travel in reverse; it can only move forward. Furthermore, in actual use, the location of the port's gantry cranes often changes with the position of containers on ships, thus changing the destination of the autonomous flatbed truck. Therefore, the task priority of the autonomous flatbed truck can usually only be determined after the gantry crane's location is confirmed. However, it often happens that after the autonomous flatbed truck reaches its task endpoint, the gantry crane's location changes temporarily, causing the task endpoint to change again. The autonomous flatbed truck then has to replan its route to reach the task endpoint. After the task endpoint is changed, the new endpoint may often be behind the autonomous flatbed truck. In this case, the autonomous flatbed truck needs to move forward, circling along main roads or in the yard to reach the new endpoint. This lack of flexibility in completing tasks easily causes congestion at the dock, wasting time and resources.
[0043] To address the aforementioned problems, this application provides an autonomous driving flatbed truck for ports. The following detailed description, in conjunction with the accompanying drawings, illustrates an embodiment of this autonomous driving flatbed truck for ports.
[0044] Reference Figure 1 , Figure 1 This application provides a schematic diagram of the structure of an automated driving flatbed truck for ports, as shown in the embodiments. Figure 1 As shown in the embodiment of this application, an autonomous driving flatbed vehicle for a port may include a vehicle body 1, a controller 2, a first millimeter-wave radar 3, a second millimeter-wave radar 4, a third millimeter-wave radar 5, a fourth millimeter-wave radar 6, a first camera 7, and a second camera 8. The first millimeter-wave radar 3, the second millimeter-wave radar 4, the third millimeter-wave radar 5, the fourth millimeter-wave radar 6, the first camera 7, and the second camera 8 are all communicatively connected to the controller 2.
[0045] The first millimeter-wave radar 3 is located in the front left corner of the vehicle body 1, the second millimeter-wave radar 4 is located in the rear left corner of the vehicle body 1, the third millimeter-wave radar 5 is located in the front right corner of the vehicle body 1, and the fourth millimeter-wave radar 6 is located in the rear right corner of the vehicle body 1.
[0046] The first camera 7 is located at the front end of the vehicle body 1, and the second camera 8 is located at the rear end of the vehicle body 1.
[0047] The controller 2 is also electrically connected to the drive motor 9 installed in the vehicle body 1. The drive motor 9 has a forward rotation mode and a reverse rotation mode.
[0048] The millimeter wave radar is a radar sensor working in a millimeter wave frequency band (i.e., 30-300 GHz, wavelength 1-10 mm), which can detect a target and measure distance, speed, angle, and other information of the target by emitting and receiving millimeter waves bounced back from the target. The millimeter wave radar combines the advantages of microwave guidance and photoelectric guidance, and has the characteristics of long detection distance, fast response speed, and strong adaptability. The millimeter wave radar can send the recognized information to the controller through the Ethernet.
[0049] The first camera can be a front-view camera of the automatic driving flat car, which is responsible for providing image information in front of the vehicle body of the automatic driving flat car, such as lane lines, containers, etc. The second camera can be a rear-view camera of the automatic driving flat car, which is responsible for providing image information in the rear of the vehicle body of the automatic driving flat car. The camera can send the recognized information to the controller through CAN communication.
[0050] The controller is a device for controlling the driving motor of the automatic driving flat car. The controller obtains the information sent by the millimeter wave radar and the camera, and controls the driving motor to operate. Since the camera can recognize targets that the millimeter wave radar cannot recognize or cannot recognize, such as lane lines, the camera can help the millimeter wave radar detect information around the automatic driving flat car, play an obstacle avoidance and auxiliary function, and facilitate the controller to control the operation of the automatic driving flat car. The driving motor is the power source of the automatic driving flat car, and can realize autonomous driving of the automatic driving flat car. In this embodiment, since the driving motor has a forward rotation mode and a reverse rotation mode, the driving motor can drive the automatic driving flat car to move forward and backward.
[0051] The millimeter wave radar has strong penetration capability, but the millimeter wave radar has a small field of view angle. In order to make up for the defects of the field of view angle of the millimeter wave radar, the automatic driving flat car can also be provided with a first laser radar 10, a second laser radar 11, a third laser radar 12, and a fourth laser radar 13, as shown in Figure 2 The specific setting mode can be as follows:
[0052] The first laser radar 10 is arranged at the left front corner area of the vehicle body 1, the second laser radar 11 is arranged at the left rear corner area of the vehicle body 1, the third laser radar 12 is arranged at the right front corner area of the vehicle body 1, and the fourth laser radar 13 is arranged at the right rear corner area of the vehicle body 1. The first laser radar 10, the second laser radar 11, the third laser radar 12, and the fourth laser radar 13 are in communication connection with the controller 2.
[0053] The laser radar is an advanced sensor for detecting and ranging by using a laser beam. The sensor emits a laser pulse to a target, measures the time difference or phase difference of the laser pulse reflected from the target, calculates the distance between the target and the sensor, and obtains other related information of the target, such as azimuth, altitude, speed, attitude, etc.
[0054] Further, compared with the millimeter wave radar, the laser radar has a greater field of view angle, is suitable for wide-range environmental perception, and can realize 360-degree omnidirectional three-dimensional perception. Therefore, one millimeter wave radar and one laser radar are taken as a group of sensors in the embodiment, and one group of sensors is arranged at each of the four corners of the automatic driving flat car. Through the complementary advantages between the millimeter wave radar and the laser radar, the blind area of the automatic driving flat car is covered, so that the automatic driving flat car can recognize the point cloud data of the target within 360 degrees (a mass of points of the spatial distribution of the target and the surface characteristics of the target, each point containing three-dimensional coordinates, and can also include color and reflection intensity information), and the collected point cloud data is merged and sent to the controller through Ethernet.
[0055] In addition, the automatic driving flat car is also provided with a first antenna and a second antenna, and the connection relationship can be that the first antenna is arranged at the left front corner region of the vehicle body, the second antenna is arranged at the right front corner region of the vehicle body, and the first antenna and the second antenna are both in communication connection with the controller. The antenna can help the automatic driving flat car to receive or send signals, assist the positioning and navigation of the automatic driving flat car, and also can realize
[0056] The automatic driving flat car for the port provided by the embodiment can detect the information around the vehicle body in all directions through the millimeter wave radars distributed at the four corners of the vehicle body, and can recognize the targets that cannot be recognized by the millimeter wave radars through the cameras arranged at the front and rear of the vehicle body, to assist in detecting the information around the vehicle body. The millimeter wave radars and the cameras are both in communication connection with the controller, so as to facilitate the millimeter wave radars and the cameras to send the acquired information to the controller, and the controller controls the vehicle body to move forward or backward. The automatic driving flat car in the application can work without relying on magnetic nail navigation, and can provide the controller with the information around the vehicle body according to the millimeter wave radars and the cameras arranged on the vehicle body, and the controller controls the movement of the vehicle body.
[0057] In a possible implementation, as shown in Figure 3 The controller can include a positioning module 14, a map module 15, a navigation module 16, a decision module 17 and a control module 18.
[0058] The positioning module 14 and the map module 15 are both in communication connection with the navigation module 16.
[0059] The navigation module 16 is in communication connection with the decision module 17;
[0060] The decision module 17 is in communication connection with the control module 18;
[0061] The control module 18 is in electrical connection with the driving motor 9 arranged in the vehicle body.
[0062] The positioning module can be a GPS module for positioning the current position of the automatic driving flat car. Of course, the positioning module can also be one of a Beidou satellite navigation module and a Galileo satellite navigation module. In the embodiment, as shown in the figure, an inertial measurement unit 19 (IMU) can be added and is in communication connection with the positioning module 14 to realize positioning of the automatic driving flat car through satellite navigation of GPS and inertial navigation of IMU. Figure 3
[0063] The inertial measurement unit is an electronic device for measuring and reporting specific mechanical quantities of a device or object and can include multiple sensors (such as an accelerometer, a gyroscope, etc.), such as a Smart Industrial 6-axis IMU module of TDK and an ISM series product of ST. The inertial measurement unit can detect and measure physical quantities such as angular velocity and acceleration of an object through multiple sensors and obtain information such as attitude, direction and speed of the device or object according to multiple physical quantities. TM 6-axis IMU module, ISM series product of ST, etc. The inertial measurement unit can detect and measure physical quantities such as angular velocity and acceleration of an object through multiple sensors, and obtain information such as attitude, direction and speed of the device or object according to multiple physical quantities.
[0064] When the automatic driving flat car is under the bridge crane, the GPS signal will be blocked, and at this time, the lateral error correction of the automatic driving flat car can be realized through the lane line image provided by the inertial measurement unit and the camera.
[0065] The map module can be a memory for storing a high-precision map. The navigation module can be a controller for planning a route. The decision module is a controller for planning a control strategy of the automatic driving flat car. The control module can be a driving unit such as a microprocessor, a single-chip microcomputer, a chip, etc. for providing a driving signal to the driving motor of the automatic driving flat car. The control module controls the working mode of the driving motor by adjusting the driving signal outputted by the control module. The driving signal is an electrical signal such as voltage, current and power. In the embodiment, the current position of the automatic driving flat car provided by the positioning module and the high-precision map provided by the map module are used to determine the driving direction of the automatic driving flat car by the decision module. The navigation module provides a collision-free route for the automatic driving flat car, and the control module outputs a matching driving signal to control the driving motor to operate according to the route after the route is verified by the decision module, so that the automatic driving flat car operates according to the route.
[0066] Of course, the positioning module, the map module, the navigation module, the decision module and the control module can also be functional modules in the prior art.
[0067] When the controller comprises a positioning module, a map module, a navigation module, a decision module and a control module, the specific connection relationship between other components in the automatic driving flat car and the controller can be:
[0068] The first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera and the second camera are in communication connection with the decision module;
[0069] The first laser radar, the second laser radar, the third laser radar and the fourth laser radar are in communication connection with the decision module;
[0070] The first antenna and the second antenna are in communication connection with the decision module.
[0071] Among them, the first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera, the second camera, the first laser radar, the second laser radar, the third laser radar and the fourth laser radar can all provide obstacle information around the automatic driving flat car for the decision module during the driving process of the automatic driving flat car. The decision module provides obstacle avoidance instructions to the control module, and the control module can control the driving motor, so that the automatic driving flat car can have an obstacle avoidance function during driving.
[0072] Further, in addition to the above-mentioned various sensors and cameras providing information to the decision module, the automatic driving flat car can also include a vehicle networking module. Vehicle networking (Vehicle to Everything, V2X) represents the exchange and communication of information between the automatic driving flat car and other things. For example, the automatic driving flat car and the automatic driving flat car, the automatic driving flat car and the infrastructure, the automatic driving flat car and the network, etc. The vehicle networking module can be a device with a vehicle networking device, such as a vehicle terminal T-BOX. Of course, the vehicle networking module can also be a functional module in the prior art.
[0073] The vehicle networking module is in communication connection with the decision module to provide information sent by the device to the decision module, such as task focus information of the automatic driving flat car, information of other automatic driving flat cars, etc. In addition, the vehicle networking module can be in communication connection with the vehicle networking platform, and then the decision module can be in communication connection with the vehicle networking platform through the vehicle networking module. Among them, the vehicle networking platform can access the information database of all automatic driving flat cars, the positions of facilities such as port cranes and yard cranes, and can also obtain the traffic situation of the port in real time, and send tasks to the automatic driving flat car through the vehicle networking platform and control the automatic driving flat car in real time.
[0074] The controller connects various sensors, cameras and vehicle networking modules, so that the automatic driving flat car has a bidirectional driving function.
[0075] When the temporary change of the task end position of the automatic driving flat car occurs, the Internet of Vehicles module provides the new task end position of the automatic driving flat car to the decision module, the positioning module provides the current position of the automatic driving flat car to the decision module, the decision module determines the moving direction of the new task end position and the driving direction of the automatic driving flat car, if the new task end position is updated in front of the automatic driving flat car, the navigation module plans the driving route of the automatic driving flat car forward, if the new task end position is updated behind the automatic driving flat car, the navigation module plans the driving route of the automatic driving flat car backward. In the driving process of the automatic driving flat car, the obstacle avoidance function of the automatic driving flat car is realized through the millimeter wave radar, the laser radar and the camera. In this embodiment, the obstacle avoidance function of the automatic driving flat car when driving forward can be realized through the front end information of the vehicle body provided by the first millimeter wave radar, the third millimeter wave radar, the first laser radar, the third laser radar and the first camera; the obstacle avoidance function of the automatic driving flat car when driving backward can be realized through the rear end information of the vehicle body provided by the second millimeter wave radar, the fourth millimeter wave radar, the second laser radar, the fourth laser radar and the second camera.
[0076] Further, in the driving process, the decision module determines whether there is a queuing automatic driving flat car in the forward planned driving route according to the information provided by each sensor and the Internet of Vehicles module, if yes, the automatic driving flat car queues and waits for work; if no, the automatic driving flat car re-plans the forward loop route to reach the new task end position.
[0077] In this embodiment, the millimeter wave radar, the laser radar and the camera can identify any target within the 360-degree range of the automatic driving flat car, and can achieve dead angle-free identification to support the bidirectional driving function of the automatic driving flat car. The bidirectional driving function of the automatic driving flat car can effectively solve the congestion problem of the automatic driving flat car caused by the temporary change of the task end position, reduce the driving time of the automatic driving flat car, and ensure that the automatic driving flat car reaches the changed task end position in the shortest time.
[0078] Each embodiment in the specification is described in a related manner, and the same and similar parts between each embodiment can be referred to each other. Each embodiment focuses on the difference from other embodiments.
[0079] The above is only an embodiment of the present application and is not used to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. An automated flatbed truck for use in a port, characterized by, The automatic driving flat car for the port comprises a vehicle body, a controller, an Internet of Vehicles module, a first millimeter wave radar, a second millimeter wave radar, a third millimeter wave radar, a fourth millimeter wave radar, a first camera and a second camera, wherein the first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera and the second camera are in communication connection with the controller; The first millimeter wave radar is arranged at the left front corner region of the vehicle body, the second millimeter wave radar is arranged at the left rear corner region of the vehicle body, the third millimeter wave radar is arranged at the right front corner region of the vehicle body, and the fourth millimeter wave radar is arranged at the right rear corner region of the vehicle body; The first camera is arranged at the front end of the vehicle body, and the second camera is arranged at the rear end of the vehicle body; The controller is further in electrical connection with a driving motor arranged in the vehicle body, and the driving motor has a forward rotation mode and a reverse rotation mode; The controller comprises a positioning module, a map module, a navigation module, a decision module and a control module, the Internet of Vehicles module is in communication connection with the decision module, the positioning module and the map module are in communication connection with the navigation module, the navigation module is in communication connection with the decision module, the decision module is in communication connection with the control module, and the control module is in electrical connection with the driving motor arranged in the vehicle body.
2. The automatic driving flat car for a port according to claim 1, characterized in that, The automatic driving flat car further comprises a first laser radar, a second laser radar, a third laser radar and a fourth laser radar; The first laser radar is arranged at the left front corner region of the vehicle body, the second laser radar is arranged at the left rear corner region of the vehicle body, the third laser radar is arranged at the right front corner region of the vehicle body, and the fourth laser radar is arranged at the right rear corner region of the vehicle body; The first laser radar, the second laser radar, the third laser radar and the fourth laser radar are in communication connection with the controller.
3. The automatic driving flat car for a port according to claim 2, characterized in that, The automatic driving flat car further comprises a first antenna and a second antenna; The first antenna is arranged at the left front corner region of the vehicle body, and the second antenna is arranged at the right front corner region of the vehicle body; The first antenna and the second antenna are in communication connection with the controller.
4. The automatic driving flat car for a port according to claim 1, characterized by, The first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera and the second camera are in communication connection with the controller, including: The first millimeter wave radar, the second millimeter wave radar, the third millimeter wave radar, the fourth millimeter wave radar, the first camera and the second camera are in communication connection with the decision module.
5. The automatic driving flat car for a port according to claim 2, characterized by, The first laser radar, the second laser radar, the third laser radar and the fourth laser radar are in communication connection with the controller, including: The first laser radar, the second laser radar, the third laser radar and the fourth laser radar are in communication connection with the decision module.
6. The automatic driving flat car for a port according to claim 3, characterized by, The first antenna and the second antenna are in communication connection with the controller, including: The first antenna and the second antenna are in communication connection with the decision module.
7. The automatic driving flat car for a port according to claim 1, characterized by, The positioning module comprises at least one of a GPS module, a Beidou satellite navigation module and a Galileo satellite navigation module.
8. The automatic driving flat car for a port according to claim 1, characterized by, Further comprising an inertial measurement unit (IMU); The IMU is in communication connection with the positioning module.