CN114329318A - Intelligent container terminal parking scheduling method considering vehicle kinematic characteristics - Google Patents
Intelligent container terminal parking scheduling method considering vehicle kinematic characteristics Download PDFInfo
- Publication number
- CN114329318A CN114329318A CN202210228059.0A CN202210228059A CN114329318A CN 114329318 A CN114329318 A CN 114329318A CN 202210228059 A CN202210228059 A CN 202210228059A CN 114329318 A CN114329318 A CN 114329318A
- Authority
- CN
- China
- Prior art keywords
- parking
- area
- lane
- field
- parking area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention provides an intelligent container terminal parking scheduling method considering vehicle kinematics characteristics, which comprises the following steps: the TOS system receives the ART completion job task information and sends a parking instruction to the vehicle management system; the TOS system collects real-time state information of the parking area and sends the information to the vehicle management system; the vehicle management system generates an idle ART parking scheme and sends the idle ART parking scheme to the ART according to the dynamic high-precision map, the real-time state of the parking area and the real-time position of the ART according to the number of the current idle parking positions; the vehicle management system plans a global path by using an A star algorithm, autonomously generates a parking path, and completes ART autonomous speed regulation based on vehicle kinematics characteristics; the vehicle management system sends the longitudinal operation lane information of the storage yard area target in the ART parking path to the TOS system; and the TOS system acquires the ART position state information, generates a dispatching area of the next operation task of the ART and optimizes the ART operation plan. The invention improves ART parking management level.
Description
Technical Field
The invention belongs to the technical field of container terminal facilities, and particularly relates to an intelligent container terminal parking scheduling method considering vehicle kinematics characteristics.
Background
The throughput of the container terminal is increasing day by day, and the problems of path conflict, long jam time and the like still exist in the horizontal transportation equipment of the terminal during the operation process, and the problems become the bottleneck influencing the operation efficiency of the terminal, so that the optimization of the passing path of the transportation equipment of the terminal is regarded as one of the keys for improving the operation efficiency of the terminal. Most of domestic and overseas researches focus on operation path planning of horizontal transportation equipment, and a large number of solutions are proposed for the operation path planning, such as a Voronoi diagram method based on wharf multi-source data sampling, a Dijkstra algorithm based on operation node control, an artificial potential field and a dynamic window algorithm based on a vehicle scheduling model, and the like.
In the existing research, there is little research on parking scheduling of wharf horizontal transportation equipment. Therefore, it is urgently needed to design an intelligent parking scheduling method for an automatic container terminal, which improves the scheduling management capability of automatic transportation equipment and a parking area thereof, optimizes the utilization efficiency of idle parking spaces of the container terminal, reduces the adverse effect of the idle transportation equipment on port area traffic, reduces the problem of congestion of a truck-collecting traffic lane and a multi-vehicle intersection, and improves the overall operation efficiency of a horizontal transportation system of the automatic terminal.
Disclosure of Invention
The invention aims to solve the problems of waiting, conflict, congestion and the like of horizontal Transportation equipment of an intelligent container terminal in the operation process, and provides a parking scheduling method of the intelligent container terminal, which considers the kinematic characteristics of vehicles, optimizes the parking positions of idle ART (Artificial intelligent Transportation Robot), reduces idle vehicles in an operation lane, improves the traffic flow condition of the intelligent terminal, and achieves the aim of improving the ART horizontal Transportation efficiency.
The invention adopts the following technical scheme:
an intelligent container terminal parking scheduling method considering vehicle kinematic characteristics comprises the following steps:
s1, the TOS system receives ART task completion information and issues a parking instruction to a vehicle management system;
s2, the TOS system collects real-time state information of the parking area and sends the information to the vehicle management system;
s3, selecting a parking area according to a multi-scene parking rule according to the number of the current idle parking positions by the vehicle management system according to dynamic high-precision map information, parking area real-time state information and ART real-time position information, sequentially allocating parking positions according to the priority level of the parking area, further generating an idle ART parking scheme, and sending the idle ART parking scheme to the ART;
s4, the vehicle management system plans a global path by using an A star algorithm according to the dynamic high-precision map, autonomously generates a parking path, and intelligently completes ART autonomous speed regulation at a turning position according to vehicle kinematics characteristics;
s5, the vehicle management system sends information of a longitudinal operation lane of the yard area target in the ART parking path to the TOS system;
and S6, the TOS system acquires the ART position state information, generates a dispatching area of the next ART operation task, and optimizes the ART operation plan.
Further, the vehicle kinematics includes ART at a maximum linear velocity of 9m/s, 1m/s2Maximum linear acceleration of 1m/s2The maximum linear deceleration of the ART vehicle runs straight, when the ART vehicle turns, the front wheel set and the rear wheel set are respectively simplified into an equivalent wheel, the front wheel is used for steering, the direction of the rear wheel is always unchanged, the steering angle of the front wheel determines the ART turning radius, and the ART minimum turning radius is 10.96 m.
Further, an ART operation area of the intelligent container terminal sequentially comprises a berth, a shore bridge inter-inner lane, a shore bridge inter-rear cover area, a centralized unlocking area, a charging area and a storage yard from the berth to the storage yard; the storage yard is divided into three areas, namely a C field, a B field and an A field from left to right, each field is divided into nine parts, wherein 9 stacking areas from the A1 field to the A9 field are sequentially arranged in the A field from top to bottom; the fields B are 9 stacking areas from B1 fields to B9 fields from top to bottom; the maintenance and test area occupies C9 fields, the C field only comprises 8 stacking areas, and the C1 fields to the C8 fields are arranged from top to bottom in sequence;
the parking area is arranged by dividing the wharf into 6 parking areas, respectively: an A/C field charging position parking area; an idle berth shore bridge cross-inner lane parking area; the idle berth shore bridge spans a rear hatch cover area parking area; charging a lane parking area above a B1 field; a reserved parking area of a B9 work lane; and a reserved parking area of the A9 work lane.
Further, the parking areas are an A/C field charging place parking area, an idle parking place bank bridge inner lane parking area, an idle parking place bank bridge rear hatch cover area parking area, a charging lane parking area above a B1 field, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area in sequence from high to low in priority.
Further, according to the actual layout condition of the wharf, different parking quantities and parking rules are set in different parking areas; the calculation formula of the parking number n is as follows:
wherein a is the number of parking lanes in the current area, b is the total length of the parking area, d1And d2The length of an upper channel and a lower channel reserved in a parking area, c is the length of an ART self vehicle, c is 15 meters, e is the length of a parking interval of 15 meters, and the calculation result is rounded downwards;
the specific settings are as follows:
the number of parking is set as follows:
A/C field charging position parking area: parking number n of A/C field charging station parking area1Is 14 parts, 7 parts are positioned above the A field, and 7 parts are positioned above the C field;
the bank bridge is across the parking area of inner lane: a shore bridge cross-inner lane parking area is arranged below each corresponding parking position in the shore bridge cross-inner lane parking area, the shore bridge cross-inner lane parking areas are divided into 3 shore bridge cross-inner lane parking areas, the number a of parking lanes in each shore bridge cross-inner lane parking area is 3, the total length b of the shore bridge cross-inner lane parking areas is 300 meters, and a reserved channel d is arranged1，d2The length is 30 meters, the parking number of each bank bridge cross-inner lane sub parking area is calculated to be 24, and then the parking number n of the bank bridge cross-inner lane parking areas2Is 72 parts;
the parking area of the shore bridge span rear hatch cover area: a shore bridge span rear hatch cover area sub-parking area is arranged below each corresponding parking space in the shore bridge span rear hatch cover area parking area and is divided into 3 shore bridge span rear hatch cover area sub-parking areas, the number a of parking lanes in each shore bridge span rear hatch cover area sub-parking area is 2, the total length b of the shore bridge span rear hatch cover area parking areas is 300 meters, and a reserved channel d is arranged1，d2The length is 30 meters, the parking number of each sub parking area of the rear hatch cover area of the shore bridge span is calculated to be 16, and then the parking number n of the parking area of the rear hatch cover area of the shore bridge span is calculated3Is 48 parts;
charging lane parking area above B1 field: the number a of parking lanes in a parking area of a charging lane above a B1 field is 1, the total length B of the parking area of the charging lane above a B1 field is 257 meters, and a reserved channel d1，d2Length 20 m, calculated over B1 fieldParking number n of parking areas of square charging lane4Is 7 parts;
reserved B9 job lane parking area: the number a of reserved parking lanes in a parking area of a reserved B9 working lane is 1, the total length B of the reserved parking area of a B9 working lane is 257 meters, and a reserved channel d1，d2The length is 30 meters, and the parking number n of the reserved parking areas of the B9 work lanes is calculated5Is 6 parts;
reserved a9 job lane parking area: the number a of reserved parking lanes in the parking area of the A9 working lane is 1, the total length b of the reserved parking area of the A9 working lane is 226 meters, and a reserved passage d1，d2The length is 30 meters, and the parking number n of the reserved parking areas of the A9 work lanes is calculated6Is 5 parts;
the parking rules of different parking areas are set as follows:
the parking rule of the charging area is that ART can park in vacant parking spaces in the charging areas of the A1 field and the C1 field; the cabin cover area parking rule is that the corresponding berths of the cabin cover area do not have ship operation and are not covered by the cabin cover, and the cabin cover area parking rule can be used as a parking area; the yard parking rule is that ART can park at a proper position of a yard traffic lane.
Further, the setting of the multi-scene parking rule is based on the number of idle berths of ships, and different parking rules are set in different scenes according to the actual operation condition of the berths of the wharf, and the scenes comprise: three berth idleness, two berth idleness, one berth idleness and no berth idleness; when a parking space is idle, starting sub parking areas corresponding to the lower part of the idle parking space in a bank bridge inter-lane parking area and a bank bridge inter-rear hatch cover parking area respectively, and other remaining parking areas except the bank bridge inter-lane parking area and the bank bridge inter-rear hatch cover parking area; when no berth is idle, starting all parking areas except a shore bridge inter-inner lane parking area and a shore bridge inter-rear hatch cover parking area; the parking rules in different scenes are as follows:
three berths are idle: when all three berths are idle, starting an A/C field charging station parking area, a shore bridge inter-lane parking area, a shore bridge inter-rear hatch cover area parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area;
two berths are idle: when two berths are idle, starting two sub parking areas, A/C field charging station parking areas, B1 field charging lane parking areas, reserved B9 field operation lane parking areas and reserved A9 field operation lane parking areas, which correspond to the idle berths in the shore bridge inter-inner lane parking area and the shore bridge inter-rear hatch cover area parking areas respectively;
one berth is idle: when one parking space is idle, starting a sub parking area, an A/C field charging position parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area which are respectively corresponding to the idle parking space in the shore bridge inter-lane parking area and the shore bridge inter-rear hatch cover area parking area;
no berth is idle: the method comprises the steps of starting an A/C field charging station parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area.
The intelligent container terminal intelligent parking scheduling method considering the vehicle kinematic characteristics is provided for reducing the probability of vehicle congestion and conflict of the automatic terminal, can make an optimal parking scheme for ART according to the parking area layout and the parking rules, and meanwhile optimizes the next operation area according to the ART parking position, thereby realizing the dynamic and intelligent adjustment of the ART intelligent parking scheduling and the operation plan, and effectively improving the ART management level and the production operation efficiency of the automatic terminal.
Drawings
FIG. 1 is a dynamic parking flow chart of the intelligent container terminal parking scheduling method considering vehicle kinematics characteristics according to the present invention;
fig. 2 is a layout diagram of the parking lot of the intelligent wharf of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the intelligent container terminal parking scheduling method considering vehicle kinematic characteristics according to the embodiment of the present invention is implemented by using a TOS system (terminal operating system), a vehicle management system and a dynamic high-precision map technology, and includes the following specific processes:
s11, judging whether the ART completes the current operation task, if so, turning to the step S12, and if not, continuing to judge the current state of the next ART;
s12, ART sends information of completing operation to the TOS system and waits for the next step of instruction;
s13, the TOS system sends an ART parking instruction to the vehicle management system;
s14, the TOS system collects and summarizes the current states of the parking areas;
s15, the TOS system sends the summary information to a vehicle management system;
s16, selecting parking spaces according to a multi-scene parking rule according to the number of the current idle parking spaces by the vehicle management system according to dynamic high-precision map information, real-time state information of a parking area and ART real-time position information, and sequentially allocating the parking spaces according to the priority level of the parking area so as to generate an idle ART optimal parking scheme;
s17, judging whether ART succeeds in synchronizing the optimal parking scheme by the TOS system, if so, turning to the step S14, and if so, turning to the step S18;
s18, the vehicle management system plans a global path by using an A star algorithm according to the dynamic high-precision map, autonomously generates a parking path, and intelligently completes ART autonomous speed regulation at a turning position according to vehicle kinematics characteristics;
s19, the vehicle management system sends information of a longitudinal operation lane of the yard area target in the ART parking path to the TOS system;
s20, judging whether a storage yard area corresponding to the ART parking position in the vertical direction is a storage yard area where a next operation task is located or not by the TOS system, if so, turning to the step S11 to judge the next ART operation state, and if not, turning to the step S21;
and S21, optimizing the dispatching area of the next ART operation task and optimizing the ART operation plan by the TOS system according to the ART position state information, and turning to the step S20 to continuously judge after the ART operation plan is completed.
The intelligent wharf is divided into a plurality of parking areas through the arrangement of the parking areas, the priority of the parking areas is set, and the parking areas beneficial to operation are preferentially distributed according to the ART operation characteristics; the parking quantity and the parking rules are set, the parking area layout is reasonably planned, ART multi-scene high-efficiency operation can be realized through the setting of the multi-scene parking rules, the parking area rule setting is completed jointly, high-level ART parking scheduling management is realized, and the wharf production operation efficiency is maximized.
Because ART has a plurality of pairs of front wheels and rear wheels, for the convenience of description, respectively simplify the front wheel set and the rear wheel set of the vehicle into an equivalent wheel, the vehicle kinematics is as follows: during the straight line driving, the ART maximum linear velocity is 9m/s, and the maximum linear acceleration is 1m/s2The maximum line deceleration is 1m/s2(ii) a When the ART turns, the front wheels are used for steering, the direction of the rear wheels is always unchanged, in order to reduce wheel abrasion, the steering angles of the two front wheels are different, the steering angle of the inner side wheel is larger, the steering angle of the front wheels determines the ART turning radius, the maximum steering angle of the ART front wheels is 0.518rad, and the minimum turning radius is 10.96 m.
The dynamic parking process based on the vehicle kinematic characteristics is based on the premise that ART safely runs, the optimal parking position is distributed for the ART, meanwhile, the subsequent horizontal transportation operation plan of the ART is optimized, and the operation process of the ART is dynamically adjusted, so that the aim of efficient horizontal transportation operation is achieved.
Fig. 2 is a layout diagram of an intelligent container terminal process applied to the intelligent parking scheduling method of the intelligent container terminal considering the kinematic characteristics of vehicles, and the ART operation area of the intelligent container terminal process layout diagram is sequentially a quay crane cross-inner lane 2, a hatch cover area 3, a centralized unlocking area 4, a charging area 5 and a storage yard. The storage yard is divided into 3 areas, which are a C field, a B field and an A field from left to right, and the A field is taken as an example for explanation: the A field is divided into 9 parts, and 9 stacking areas from the A1 field to the A9 field (reserved) are arranged from top to bottom. B. The C field is arranged in a manner similar to the A field and comprises 9 stacking areas, namely a B1 field to a B9 field, and the stacking area of the C field only comprises a C1 field to a C8 field because the maintenance and test area occupies a C9 related field. The charging area 5 is positioned above the A1 field and the C1 field, and only a charging lane is arranged above the B1 field for the charging vehicle to adjust the train sequence without the charging area. The berth 1 is arranged above the shore bridge cross inner lane 2, and the shore bridge cross inner lane 2 and the charging area 5 are both provided with parking areas 6.
In the above scheme, as shown in fig. 2, the parking areas are set according to the rule that the intelligent container terminal is divided into 6 parking areas, which are an a/C field charging space parking area, an idle parking space shore bridge inner lane parking area, an idle parking space shore bridge rear hatch cover area parking area, a B1 field upper charging lane parking area, a reserved B9 field working lane parking area, and a reserved a9 field working lane parking area.
According to the scheme, parking spaces are sequentially distributed according to the priority level of a parking area, parking spaces in the parking area are sequentially distributed according to the priority level of the parking area, the priority level of the parking area is set according to the ART operation convenience degree, and the parking areas sequentially comprise an A/C field charging place parking area, an idle parking place bank bridge inner lane parking area, an idle parking place bank bridge rear cabin cover area parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area from high to low.
In the above scheme, according to the actual layout condition of the wharf, different parking quantities are set in different parking areas, and the calculation formula of the parking quantity n is as follows:
wherein a is the number of parking lanes in the current area, b is the total length of the parking area, d1And d2The length of an upper channel and a lower channel reserved in a parking area, c is the length of an ART self vehicle, c is 15 meters, e is the length of a parking interval is 15 meters, and the calculation result is rounded downwards.
The specific settings are as follows:
wherein the number of parking is set to:
A/C field charging position parking area: parking number n of A/C field charging station parking area114 parts, 7 parts are positioned above the A field, and 7 parts are positioned above the C field;
vehicle in bank bridge spanA parking area: a shore bridge cross-inner lane parking area is arranged below each corresponding parking position in the shore bridge cross-inner lane parking area and is divided into 3 shore bridge cross-inner lane parking areas, the number a of parking lanes in each shore bridge cross-inner lane parking area is 3, the total length b of the shore bridge cross-inner lane parking areas is 300 meters, and a reserved channel d is arranged1，d2The length is 30 meters, the parking number of each bank bridge cross-inner lane sub parking area is calculated to be 24, and then the parking number n of the bank bridge cross-inner lane parking areas2Is 72 parts;
the parking area of the shore bridge span rear hatch cover area: a sub parking area of the shore bridge span rear hatch cover area is arranged below each corresponding parking space in the parking area of the shore bridge span rear hatch cover area and is divided into 3 sub parking areas of the shore bridge span rear hatch cover area, the number a of parking lanes in the sub parking area of each shore bridge span rear hatch cover area is 2, the total length b of the parking area of the shore bridge span rear hatch cover area is 300 meters, and a reserved channel d is arranged1，d2The length is 30 meters, the parking number of each sub parking area of the rear hatch cover area of the shore bridge span is calculated to be 16, and then the parking number n of the parking area of the rear hatch cover area of the shore bridge span is calculated3Is 48 parts;
charging lane parking area above B1 field: the number a of parking lanes in a parking area of a charging lane above a B1 field is 1, the total length B of the parking area of the charging lane above a B1 field is 257 meters, and a reserved channel d1，d2The length is 20 meters, and the parking number n of the parking area of the charging lane above the B1 field is calculated4Is 7 parts;
reserved B9 job lane parking area: the number a of reserved parking lanes in a parking area of a reserved B9 working lane is 1, the total length B of the reserved parking area of a B9 working lane is 257 meters, and a reserved channel d1，d2The length is 30 meters, and the parking number n of the reserved parking areas of the B9 work lanes is calculated5Is 6 parts;
reserved a9 job lane parking area: the number a of reserved parking lanes in the parking area of the A9 working lane is 1, the total length b of the reserved parking area of the A9 working lane is 226 meters, and a reserved passage d1，d2The length is 30 meters, and the parking number n of the reserved parking areas of the A9 work lanes is calculated6Is 5 parts;
the parking rule of the charging area is that ART can park in vacant parking spaces in the charging area on the east side of the yard; the parking rule of the cabin cover area is as follows: the hatch cover area corresponding to the berth can be used as a parking area under the condition that no ship works and is not covered by the hatch cover; the yard parking rule is as follows: the yard parking rule is that ART can park at a proper position of a yard traffic lane.
In the above scheme, the multi-scenario parking rules are set based on the number of idle berths of a ship, and different parking rules are set in different scenarios according to the actual operation conditions of the berths of a wharf, wherein the scenarios include: when the parking space is idle, starting a sub parking area which corresponds to the lower part of the idle parking space in a parking area of a bank bridge across an inner lane and a parking area of a bank bridge across a rear hatch cover area respectively, and other remaining parking areas outside the parking area of the bank bridge across the inner lane and the parking area of the bank bridge across the rear hatch cover area; when no berth is idle, starting all parking areas except a shore bridge inter-inner lane parking area and a shore bridge inter-rear hatch cover parking area; the total number of parking spaces in different scenes is calculated according to the following formula:
wherein f is the number of idle berths.
In addition, the berth and the shore bridge are arranged according to the following ratio of 1: 4, configuring a shore bridge and ART according to the ratio of 1: 6, the calculation formula of the number of idle ARTs, namely the number of vehicles with parking requirements in different scenes is as follows:
where a is the number of ART's common to docks of 76, and f is the number of free berths.
Three berths are idle: f is 3, and the parking area for parking comprises: calculating three parking areas of the charging positions of the A/C field, the parking areas of the shore bridges across the inner lane, the parking areas of the shore bridges across the rear hatch cover area, the parking areas of the charging lanes of the B1 field, the parking areas of the reserved working lanes of the B9 field and the parking areas of the reserved working lanes of the A9 fieldTotal number N of parking spaces in the scene that each parking space is free3ART number A of section 152 with parking request3And 76, the number of parking slots meets the parking requirement.
Two berths are idle: f is 2, and the parking area available for parking includes: two sub parking areas, an A/C field charging position parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area which correspond to idle parking positions in the shore bridge cross inner lane parking area and the shore bridge cross rear hatch cover area parking area respectively are calculated, and the total number N of the parking spaces in the two parking positions in the scene of idle parking positions is obtained2112 ART number A with parking demand2And 52, the number of the parking spaces meets the parking requirement.
One berth is idle: f is 1, and the parking area for parking comprises: calculating the total number N of parking spaces in a parking area with an empty parking space in a scene by using a sub parking area, an A/C field charging space parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area which correspond to the empty parking space in the parking area of the shore bridge across inner lane and the parking area of the shore bridge across rear hatch cover area respectively1Number of ART required for parking at 72 points A1And the number of the parking spaces is 28, so that the parking requirements are met.
No berth is idle: f is 0, and the parking area available for parking includes: calculating the total number N of parking spaces in the scene without parking spaces in the A/C field charging space parking area, the B1 field charging lane parking area, the reserved B9 field working lane parking area and the reserved A9 field working lane parking area0Number of ART required for parking at 32 points A0And 4, the number of the parking spaces meets the parking requirement.
When the ship size is smaller in the above scheme, the shore bridge inter-lane parking area corresponding to the remaining idle berths can be divided into two sections, one section is used for parking, the other section is used for maintenance, the number of parking spaces is increased, and the scheduling flexibility is improved.
The foregoing examples are provided for illustration and description of the invention only and are not intended to limit the invention to the scope of the described examples. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, all of which fall within the scope of the invention as claimed.
Claims (6)
1. An intelligent container terminal parking scheduling method considering vehicle kinematic characteristics is characterized by comprising the following steps:
s1, the TOS system receives ART completion operation information and issues a parking instruction to a vehicle management system;
s2, the TOS system collects real-time state information of the parking area and sends the information to the vehicle management system;
s3, selecting a parking area according to a multi-scene parking rule according to the number of the current idle parking positions by the vehicle management system according to dynamic high-precision map information, parking area real-time state information and ART real-time position information, sequentially distributing parking positions from high to low according to the priority of the parking area, further generating an idle ART parking scheme, and sending the idle ART parking scheme to the ART;
s4, the vehicle management system plans a global path by using an A star algorithm according to the dynamic high-precision map, autonomously generates a parking path, and intelligently completes ART autonomous speed regulation at a turning position according to vehicle kinematics characteristics;
s5, the vehicle management system sends information of a longitudinal operation lane of the yard area target in the ART parking path to the TOS system;
and S6, the TOS system acquires the ART position state information, generates a dispatching area of the next ART operation task, and optimizes the ART operation plan.
2. The intelligent container terminal parking scheduling method considering vehicle kinematics as claimed in claim 1, wherein the vehicle kinematics comprises ART at a maximum linear velocity of 9m/s, 1m/s2Maximum linear acceleration of 1m/s2Straight run at the maximum line deceleration of (1); when turning, the front wheel set and the rear wheel set are respectively simplified into an equivalent wheel, the front wheel is used for steering, the direction of the rear wheel is always unchanged, the ART turning radius is determined by the steering angle of the front wheel, and the ART minimum turning radius is 10.96 m.
3. The intelligent container terminal parking scheduling method considering the vehicle kinematic characteristics according to claim 1, wherein the ART operation area of the intelligent container terminal is from a berth to a storage yard, and is sequentially a berth, a shore bridge crossing inner lane, a shore bridge crossing rear deck cover area, a centralized unlocking area, a charging area and a storage yard, the storage yard is divided into three areas, namely a C field, a B field and an A field from left to right, each field is divided into nine parts, and the A field is sequentially 9 stacking areas from A1 field to A9 field from top to bottom; the fields B are 9 stacking areas from B1 fields to B9 fields from top to bottom; the maintenance and test area occupies C9 fields, the C field comprises 8 stacking areas, and the C1 fields to the C8 fields are arranged from top to bottom in sequence;
the parking areas are arranged by dividing the wharf into 6 parking areas, namely an A/C field charging place parking area, an idle parking place bank bridge inner lane parking area, an idle parking place bank bridge rear hatch cover area parking area, a B1 field upper charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area.
4. The intelligent container terminal parking scheduling method considering vehicle kinematic characteristics according to claim 1, wherein the parking areas are an A/C field charging station parking area, an idle parking site land bridge inner lane parking area, an idle parking site land bridge rear hatch area parking area, a charging lane parking area above a B1 field, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area in sequence from high to low.
5. The intelligent container terminal parking scheduling method considering vehicle kinematic characteristics according to claim 1, wherein different parking numbers and parking rules are set in different parking areas according to the actual layout condition of the terminal; the calculation formula of the parking number n is as follows:
wherein a is the number of parking lanes in the current area, and b is the parking areaTotal length of (d)1And d2The length of an upper channel and a lower channel reserved in a parking area, c is the length of an ART self vehicle, c is 15 meters, e is the length of a parking interval of 15 meters, and the calculation result is rounded downwards;
the specific settings are as follows:
the number of parking is set as follows:
A/C field charging position parking area: parking number n of A/C field charging station parking area1Is 14 parts, 7 parts are positioned above the A field, and 7 parts are positioned above the C field;
the bank bridge is across the parking area of inner lane: a sub-bank bridge cross-inner lane parking area is arranged below each corresponding parking position in the bank bridge cross-inner lane parking area and is divided into 3 bank bridge cross-inner lane parking areas, the number a of parking lanes in each bank bridge cross-inner lane parking area is 3, the total length b of the bank bridge cross-inner lane parking areas is 300 meters, and a reserved channel d is arranged1，d2The length is 30 meters, the parking number of each bank bridge cross-inner lane sub parking area is calculated to be 24, and then the parking number n of the bank bridge cross-inner lane parking areas2Is 72 parts;
the parking area of the shore bridge span rear hatch cover area: a shore bridge span rear hatch cover area sub-parking area is arranged below each corresponding parking space in the shore bridge span rear hatch cover area parking area and is divided into 3 shore bridge span rear hatch cover area sub-parking areas, the number a of parking lanes in each shore bridge span rear hatch cover area sub-parking area is 2, the total length b of the shore bridge span rear hatch cover area parking areas is 300 meters, and a reserved channel d is arranged1，d2The length is 30 meters, the parking number of each sub parking area of the rear hatch cover area of the shore bridge span is calculated to be 16, and then the parking number n of the parking area of the rear hatch cover area of the shore bridge span is calculated3Is 48 parts;
charging lane parking area above B1 field: the number a of parking lanes in a parking area of a charging lane above a B1 field is 1, the total length B of the parking area of the charging lane above a B1 field is 257 meters, and a reserved channel d1，d2The length is 20 meters, and the parking number n of the parking area of the charging lane above the B1 field is calculated4Is 7 parts;
reserved B9 job lane parking area: the number a of reserved parking lanes in the parking area of the B9 work lane is 1, the total length B of the reserved parking area of the B9 work lane is 257 meters, and reservedChannel d1，d2The length is 30 meters, and the parking number n of the reserved parking areas of the B9 work lanes is calculated5Is 6 parts;
reserved a9 job lane parking area: the number a of reserved parking lanes in the parking area of the A9 working lane is 1, the total length b of the reserved parking area of the A9 working lane is 226 meters, and a reserved passage d1，d2The length is 30 meters, and the parking number n of the reserved parking areas of the A9 work lanes is calculated6Is 5 parts;
the parking rules of different parking areas are set as follows:
the parking rule of the charging area is that ART can park in vacant parking spaces in the charging areas of the A1 field and the C1 field; the cabin cover area parking rule is that the cabin cover area can be used as a parking area when no ship works at the corresponding berth of the cabin cover area and is not covered by the cabin cover; the parking rule of the storage yard area is that ART can park at the proper position of the storage yard roadway.
6. The intelligent container terminal parking scheduling method considering vehicle kinematic characteristics according to claim 1, wherein the multi-scenario parking rules are set based on the number of idle berths of the ship, and different parking rules are set in different scenarios according to the actual operation condition of the terminal berths, and the scenarios include three berth idleness, two berth idleness, one berth idleness and no berth idleness; when a parking space is idle, starting sub parking areas corresponding to the lower part of the idle parking space in a bank bridge inter-lane parking area and a bank bridge inter-rear hatch cover parking area respectively, and other remaining parking areas except the bank bridge inter-lane parking area and the bank bridge inter-rear hatch cover parking area; when no berth is idle, starting all parking areas except a shore bridge inter-inner lane parking area and a shore bridge inter-rear hatch cover parking area; the parking rules in different scenes are as follows:
three berths are idle: when all three berths are idle, starting an A/C field charging station parking area, a shore bridge inter-lane parking area, a shore bridge inter-rear hatch cover area parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area;
two berths are idle: when two berths are idle, starting two sub parking areas, A/C field charging station parking areas, B1 field charging lane parking areas, reserved B9 field operation lane parking areas and reserved A9 field operation lane parking areas, which correspond to the idle berths in the shore bridge inter-inner lane parking area and the shore bridge inter-rear hatch cover area parking areas respectively;
one berth is idle: when one parking space is idle, starting a sub parking area, an A/C field charging position parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area which are respectively corresponding to the idle parking space in the shore bridge inter-lane parking area and the shore bridge inter-rear hatch cover area parking area;
no berth is idle: the method comprises the steps of starting an A/C field charging station parking area, a B1 field charging lane parking area, a reserved B9 field operation lane parking area and a reserved A9 field operation lane parking area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210228059.0A CN114329318B (en) | 2022-03-10 | 2022-03-10 | Intelligent container terminal parking scheduling method considering vehicle kinematic characteristics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210228059.0A CN114329318B (en) | 2022-03-10 | 2022-03-10 | Intelligent container terminal parking scheduling method considering vehicle kinematic characteristics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114329318A true CN114329318A (en) | 2022-04-12 |
| CN114329318B CN114329318B (en) | 2022-07-01 |
Family
ID=81033393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210228059.0A Active CN114329318B (en) | 2022-03-10 | 2022-03-10 | Intelligent container terminal parking scheduling method considering vehicle kinematic characteristics |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114329318B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427075A (en) * | 2015-11-24 | 2016-03-23 | 山东科技大学 | Hybrid dynamic scheduling method used for port container truck |
| CN110065490A (en) * | 2019-04-30 | 2019-07-30 | 驭势（上海）汽车科技有限公司 | Automatic parking method, system, automatic driving vehicle and storage medium |
| US20190311616A1 (en) * | 2018-04-10 | 2019-10-10 | Cavh Llc | Connected and automated vehicle systems and methods for the entire roadway network |
| CN113361804A (en) * | 2021-06-28 | 2021-09-07 | 同济大学 | Buffer yard operation and inter-dock truck transportation cooperative scheduling system and method thereof |
| CN113486293A (en) * | 2021-09-08 | 2021-10-08 | 天津港第二集装箱码头有限公司 | Intelligent horizontal transportation system and method for full-automatic side loading and unloading container wharf |
| CN113554276A (en) * | 2021-06-25 | 2021-10-26 | 桂林电子科技大学 | Availability perception conflict avoidance berth distribution system based on berth supply |
| CN113650605A (en) * | 2021-09-15 | 2021-11-16 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and system |
-
2022
- 2022-03-10 CN CN202210228059.0A patent/CN114329318B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427075A (en) * | 2015-11-24 | 2016-03-23 | 山东科技大学 | Hybrid dynamic scheduling method used for port container truck |
| US20190311616A1 (en) * | 2018-04-10 | 2019-10-10 | Cavh Llc | Connected and automated vehicle systems and methods for the entire roadway network |
| CN110065490A (en) * | 2019-04-30 | 2019-07-30 | 驭势（上海）汽车科技有限公司 | Automatic parking method, system, automatic driving vehicle and storage medium |
| CN113554276A (en) * | 2021-06-25 | 2021-10-26 | 桂林电子科技大学 | Availability perception conflict avoidance berth distribution system based on berth supply |
| CN113361804A (en) * | 2021-06-28 | 2021-09-07 | 同济大学 | Buffer yard operation and inter-dock truck transportation cooperative scheduling system and method thereof |
| CN113486293A (en) * | 2021-09-08 | 2021-10-08 | 天津港第二集装箱码头有限公司 | Intelligent horizontal transportation system and method for full-automatic side loading and unloading container wharf |
| CN113650605A (en) * | 2021-09-15 | 2021-11-16 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and system |
Non-Patent Citations (2)
| Title |
|---|
| 柴浩等: ""基于多优先级控制策略的码头智能交通管理系统设计"", 《港口装卸》 * |
| 柴浩等: ""基于多优先级控制策略的码头智能交通管理系统设计"", 《港口装卸》, no. 6, 31 December 2021 (2021-12-31) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114329318B (en) | 2022-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113486293B (en) | Intelligent horizontal transportation system and method for full-automatic side loading and unloading container wharf | |
| Sun et al. | A capacity maximization scheme for intersection management with automated vehicles | |
| CN101859494B (en) | Autonomous vehicle management | |
| CN112319557B (en) | Operation adjusting method and system for subway train under late condition | |
| CN112977555B (en) | Ad-hoc network-based train group high-efficiency dispatching system and method | |
| CN109267438B (en) | Control method for tidal automatic driving BRT | |
| CN112232552A (en) | Emergency uncertainty-oriented train operation plan adjustment risk control method | |
| CN112693505B (en) | Subway train operation adjusting method and system under unidirectional blocking condition | |
| CN113313957A (en) | Signal lamp-free intersection vehicle scheduling method based on enhanced Dijkstra algorithm | |
| CN114118639B (en) | Automatic wharf ART dynamic scheduling method for shore-following type side loading and unloading | |
| CN113792990A (en) | Intelligent dynamic ground station locking arrangement method considering front buffer area and rear buffer area | |
| CN113479655A (en) | Vehicle scheduling method based on fuzzy path | |
| CN114329318B (en) | Intelligent container terminal parking scheduling method considering vehicle kinematic characteristics | |
| CN113064436B (en) | Dynamic path planning and decentralized obstacle avoidance method in AGV system | |
| CN108382870B (en) | AGV passes in and out the optimization method and system in operation lane under gantry crane | |
| CN110347156B (en) | Method and system for optimizing path of AGV entering and exiting from working lane under shore bridge | |
| CN115638804B (en) | Deadlock-free unmanned vehicle online path planning method | |
| CN110751360A (en) | Unmanned ship region scheduling method | |
| CN114187771A (en) | Bus driving control method and system based on cooperative adaptive cruise control | |
| CN113780760B (en) | Intelligent collaborative organization method for ART and manned collection card of container terminal | |
| CN114384914B (en) | Collaborative regulation and control method for automatic wharf global system and ART autonomous operation | |
| CN113409567B (en) | Traffic assessment method and system for mixed traffic lane of public transport and automatic driving vehicle | |
| CN112907944A (en) | Automatic driving intelligent traffic method for local traffic section | |
| Reghelin et al. | An algorithm to calculate coordinated trajectories of intelligent vehicles in roads considering individual priority | |
| Yosodipuro et al. | Mixed-traffic Intersection Management using Traffic-load-responsive Reservation and V2X-enabled Speed Coordination |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |