CN113401234B - Method and system for mixing automatic driving vehicle and manual driving vehicle - Google Patents
Method and system for mixing automatic driving vehicle and manual driving vehicle Download PDFInfo
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- CN113401234B CN113401234B CN202110672262.2A CN202110672262A CN113401234B CN 113401234 B CN113401234 B CN 113401234B CN 202110672262 A CN202110672262 A CN 202110672262A CN 113401234 B CN113401234 B CN 113401234B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a method for mixing an automatic driving vehicle and a manual driving vehicle, which is suitable for a port logistics area and is characterized by comprising the following steps: the manual driving vehicle enters a grouping position of an automation area, and an automatic driving towing head forms an automatic driving grouping vehicle and enters the automation area; the autonomous consist vehicle and the autonomous vehicle are operated in a mixed mode in an automated area road. The automatic tractor is used for towing the manual driving vehicle and automatically operates under the dispatching of the automatic driving management and control system, so that the port operation efficiency is effectively improved, and meanwhile, the automatic driving under unified dispatching also eliminates the production potential safety hazard possibly generated due to human factors.
Description
Technical Field
The invention relates to the technical field of port logistics, in particular to a method and a system for mixing an automatic driving vehicle and a manual driving vehicle.
Background
With the development of port logistics, port logistics vehicles are gradually increased, and meanwhile, partial automatic driving vehicles are also increased, and in order to realize full-automatic safe operation, the port logistics areas need to isolate the automatic driving vehicles bearing horizontal transportation from manual driving vehicles. The existing space isolation mode and time isolation mode respectively have the problems of high upgrading cost and low operation efficiency.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for mixing an automatic driving vehicle and a manual driving vehicle, which can safely mix the automatic driving vehicle and the manual driving vehicle.
In order to solve the technical problems, the invention adopts the following technical scheme:
the method for mixing the automatic driving vehicle and the manual driving vehicle is suitable for the port logistics area, and comprises the following steps:
the manual driving vehicle enters a grouping position of the automation area, and the automatic driving towing head forms an automatic driving grouping vehicle and enters the automation area;
the automatic driving marshalling vehicle and the automatic driving vehicle are mixed and run in an automatic regional road;
after the operation is completed, the automatic driving marshalling vehicle is driven out of the automatic area and is separated into a manual driving vehicle and an automatic driving towing head.
Further, the automated driving consist vehicle and the automated driving vehicle are mixed to run in an automated regional road, comprising:
the automatic driving marshalling vehicle and the automatic driving vehicle operate in a mixed mode according to the dispatching of the automatic driving control system in the logistics area.
Still further, the method of blending an autonomous vehicle with a manually driven vehicle further comprises:
the automatic driving tug and the next manual vehicle needing to enter the automation area are re-grouped into the automatic driving grouping vehicle.
Further, the locus of travel of the autonomous consist vehicle during the automation area is controlled by the autonomous tug.
Further, the grouping position of the automation area is a designated position outside the automation area.
Another embodiment of the present invention provides a system for mixing an autonomous vehicle and a manually driven vehicle, comprising:
the automatic driving system comprises a manual driving vehicle, an automatic driving towing head and an automatic driving vehicle, wherein the manual driving vehicle is used for being combined with the automatic driving towing head to form the automatic driving marshalling vehicle when the manual driving vehicle enters a marshalling position of an automation area, and the automatic driving towing head is used for driving the manual driving vehicle to be mixed with the automatic driving vehicle on a road of the automation area; after the operation is completed, the automatic driving marshalling vehicle is driven out of the automatic area, and the manual driving vehicle is separated from the automatic driving towing head.
Further, the automatic steering tug is provided with a traction saddle, and the automatic steering tug is connected with the manual steering vehicle through the traction saddle.
Still further, the system for blending an autonomous vehicle with a manually driven vehicle further comprises:
and the automatic driving management and control system is connected with the automatic driving towing head and the automatic driving vehicle and is used for dispatching the automatic driving marshalling vehicle and the automatic driving vehicle in an automatic area.
Further, the automatic driving control system is also used for controlling the automatic driving towing head to control the running track of the automatic driving marshalling vehicle.
Further, the automatic driving tug is further used for being combined with a manual driving vehicle which drives into a grouping position after being separated from a current manual driving vehicle, and the grouping position of the automatic area is a designated position outside the automatic area.
The technical scheme of the invention has at least one of the following beneficial effects:
1. according to the invention, the automatic driving towing head and the manual driving vehicle form an automatic driving marshalling vehicle, and the automatic driving marshalling vehicle and the automatic driving vehicle are mixed and controlled by the same system, so that the working efficiency is effectively improved;
2. according to the invention, the automatic driving marshalling vehicles and the automatic driving vehicles are uniformly scheduled through the automatic driving management and control system, so that the interference of human factors is avoided, and the driving safety is improved;
3. on the basis of realizing the mixed running of the manual driving vehicle and the automatic driving vehicle, the invention does not need to modify the existing manual driving vehicle and the port road, and saves the modification cost.
Drawings
FIG. 1 is a schematic diagram illustrating operation of a system for blending an autonomous vehicle with a manually driven vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an autonomous consist vehicle in a system for blending an autonomous vehicle with a manually driven vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a method of blending an autonomous vehicle with a manually driven vehicle in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of a system structure of a hybrid vehicle between an automatic driving vehicle and a manual driving vehicle according to an embodiment of the present invention.
Reference numerals: 100. manually driving the vehicle; 110. automatic driving tug; 111. traction saddle; 120. automatically driving the marshalling vehicle; 130. the vehicle is automatically driven.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
With the development of port logistics, port logistics vehicles are gradually increased, and in order to realize full-automatic safety operation, port logistics areas need to isolate an automatic driving vehicle and a manual driving vehicle which bear horizontal transportation. The invention provides a method and a system for mixing an automatic driving vehicle and a manual driving vehicle, which can ensure that the automatic driving vehicle and the manual driving vehicle can be safely mixed. Therefore, the working efficiency is improved.
Referring to fig. 1, fig. 1 is a schematic operation diagram of a system for mixing an automatic driving vehicle and a manual driving vehicle according to an embodiment of the present invention, as shown in fig. 1, an automatic driving tug 110 drives a manual driving vehicle 100 to form an automatic driving consist vehicle 120, and the automatic driving consist vehicle 130 is mixed with a road in an automation area. Therefore, the automatic driving marshalling vehicle 120 and the automatic driving vehicle 130 receive unified dispatching mixed operation, so that the working efficiency is improved, and the safety accident occurrence rate caused by manual driving is reduced.
More specifically, as shown in fig. 2, the rear of autopilot tug 110 is provided with traction saddle 111, and when autonomous consist vehicle 120 is assembled, autopilot vehicle 100 is driven up traction saddle 111 and service brake is activated, i.e., the combination with autopilot tug 110 is completed. Therefore, the manual driving vehicle 100 can be towed by the automatic driving towing head 110 without refitting the manual driving vehicle 100, and the system overhead is effectively saved.
A method for mixing an autonomous vehicle and a manually driven vehicle according to an embodiment of the present invention is described in detail below with reference to fig. 3.
The method for mixing the automatic driving vehicle and the manual driving vehicle is suitable for port logistics areas.
As shown in fig. 3, according to a flowchart of a method of mixing an autonomous vehicle and a manually driven vehicle, the flowchart includes S210-S230, and several steps are described in detail below:
s210, the manual driving vehicle enters an automatic area grouping position and forms an automatic driving grouping vehicle with the automatic driving towing head.
Specifically, a manually driven vehicle needs to form an automated driving consist vehicle with an automated driving tug at a designated consist location outside the automation area before entering the automation area. More specifically, the rear of the autopilot tug is provided with a traction saddle, and when the autopilot consist vehicle is assembled, the autopilot vehicle is driven onto the traction saddle and initiates the service brake, i.e. the combination with the autopilot tug is completed.
S220, the automatic driving marshalling vehicle and the automatic driving vehicle are mixed and run on the road of the automatic area.
Specifically, the autonomous consist vehicle and the autonomous vehicle operate in accordance with a dispatch mix of the logistics zone autonomous control system, more specifically, the locus of travel of the autonomous consist vehicle during the automation zone is controlled by the autonomous tug. Therefore, the automatic driving vehicle is used for working, the working efficiency is effectively improved, safety accidents caused by human factors can be effectively avoided through scheduling of the automatic driving control system, and the working safety is improved.
S230, after the operation is completed, the automatic driving marshalling vehicle leaves the automatic area and is separated into a manual driving vehicle and an automatic driving towing head.
Specifically, after the operation is completed, the manual driving vehicle drives down the traction saddle of the automatic driving towing head to complete separation, and the automatic driving towing head waits for the next manual vehicle needing to enter an automation area to be regrouped into an automatic driving grouping vehicle.
Another aspect of the present invention provides a system for blending an autonomous vehicle with a manually driven vehicle, as shown in fig. 4, comprising a manually driven vehicle 410, an autonomous tug 420, an autonomous vehicle 430, and an autonomous management and control system 450.
The manual driving vehicle 410 is used for forming an automatic driving grouping vehicle 440 by combining with the automatic driving towing head 420 when the manual driving vehicle 410 enters a grouping position of an automation area, and the automatic driving towing head 420 is used for driving the manual driving vehicle 410 to mix with the automatic driving vehicle 430 to run on a road of the automation area; after the job is completed, the autonomous consist vehicle 440 travels away from the automation area and the human drive vehicle 410 is separated from the autonomous tug 420. An autopilot control system 450 is coupled to the autopilot tug 420 and the autopilot vehicle 430 for dispatching the autopilot consist vehicle 440 and the autopilot vehicle 430 within an automation area.
The workflow and actions of each device in the method and system for mixing an automatic driving vehicle and a manual driving vehicle according to the embodiments of the present invention are described in detail in the foregoing embodiments, and in particular, reference may be made to the description in the method in fig. 3 in the foregoing embodiments, which is not repeated herein.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (9)
1. A method for mixing an autonomous vehicle with a manually driven vehicle, suitable for use in a port logistics area, comprising:
the manual driving vehicle enters a grouping position of an automatic area, and an automatic driving towing head forms an automatic driving grouping vehicle, and the automatic driving towing head drives the manual driving vehicle to enter the automatic area;
the automatic driving marshalling vehicles and the automatic driving vehicles are in mixed operation in an automatic regional road according to unified dispatching of the logistics area automatic driving management and control system;
after the operation is completed, the automatic driving marshalling vehicle leaves the automatic area and is separated into the manual driving vehicle and the automatic driving towing head.
2. The method as recited in claim 1, further comprising:
the automatic driving tug and the next manual driving vehicle needing to enter an automation area are re-grouped into the automatic driving grouping vehicle.
3. The method of claim 2, wherein the locus of travel of the autonomous consist vehicle while during an automation area is controlled by the autonomous tug.
4. A method according to claim 3, wherein the grouped locations of the automation area are designated locations outside the automation area.
5. A system for blending an autonomous vehicle with a manually driven vehicle, comprising:
the automatic driving system comprises a manual driving vehicle, an automatic driving tug and an automatic driving vehicle, wherein the manual driving vehicle is used for being combined with the automatic driving tug to form the automatic driving marshalling vehicle when the manual driving vehicle enters a marshalling position of an automation area, and the automatic driving tug is used for driving the manual driving vehicle to perform mixed operation on a road of the automation area according to unified dispatching of an automatic driving management and control system of a logistics area; after the operation is completed, the automatic driving marshalling vehicle drives away from the automation area, and the manual driving vehicle is separated from the automatic driving towing head.
6. The system according to claim 5, characterized in that the autopilot tug is provided with a traction saddle, through which the autopilot tug is connected to the artificial ride vehicle.
7. The system of claim 6, further comprising:
and the automatic driving management and control system is connected with the automatic driving towing head and the automatic driving vehicle and is used for dispatching the automatic driving marshalling vehicle and the automatic driving vehicle in the automatic area.
8. The system of claim 7, wherein the autopilot control system is further configured to control the autopilot tug to control the autopilot consist vehicle trajectory.
9. The system of claim 8, wherein the autonomous tug is further configured to be combined with a next manually driven vehicle that is driven into a consist location after being separated from the current manually driven vehicle, the consist location of the automation area being a designated location outside of the automation area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110672262.2A CN113401234B (en) | 2021-06-11 | 2021-06-11 | Method and system for mixing automatic driving vehicle and manual driving vehicle |
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| CN202110672262.2A CN113401234B (en) | 2021-06-11 | 2021-06-11 | Method and system for mixing automatic driving vehicle and manual driving vehicle |
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| CN113401234B true CN113401234B (en) | 2023-05-02 |
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| CN114023094B (en) * | 2022-01-07 | 2022-05-31 | 上海国际港务（集团）股份有限公司 | Wharf vehicle scheduling system, method, equipment and medium |
| CN115657692A (en) * | 2022-12-28 | 2023-01-31 | 北京易控智驾科技有限公司 | Unmanned operation method and device based on manned driving, electronic equipment and storage medium |
Citations (2)
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| JP2015072651A (en) * | 2013-10-04 | 2015-04-16 | 株式会社デンソーアイティーラボラトリ | Traffic control system, traffic control method, and program |
| CN112907946A (en) * | 2021-01-04 | 2021-06-04 | 清华大学 | Traffic control method and system for automatically driving vehicle and other vehicles to run in mixed mode |
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| DE102016200049B4 (en) * | 2016-01-06 | 2019-01-17 | Volkswagen Aktiengesellschaft | Method, leader vehicle and truck for driving on and off a highway through the truck |
| DE102016111450A1 (en) * | 2016-06-22 | 2017-12-28 | Terex Mhps Gmbh | System for transporting containers, in particular ISO containers, by means of heavy-duty vehicles |
| KR20180024740A (en) * | 2016-08-31 | 2018-03-08 | 이명헌 | Connecting and disconnecting system for autonomous vehicle |
| CN106696962B (en) * | 2016-12-12 | 2020-04-14 | 东莞前沿技术研究院 | Traffic system, vehicle and control method thereof |
| CN109859456B (en) * | 2018-12-06 | 2019-11-22 | 浙江大学 | Platooning's initial scheme under car networking environment determines method |
| JP2020102010A (en) * | 2018-12-21 | 2020-07-02 | 三菱自動車工業株式会社 | Automated driving support system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015072651A (en) * | 2013-10-04 | 2015-04-16 | 株式会社デンソーアイティーラボラトリ | Traffic control system, traffic control method, and program |
| CN112907946A (en) * | 2021-01-04 | 2021-06-04 | 清华大学 | Traffic control method and system for automatically driving vehicle and other vehicles to run in mixed mode |
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