CN114839996B - Vehicle scheduling planning method, system, equipment and medium for dynamically setting port forbidden zone - Google Patents
Vehicle scheduling planning method, system, equipment and medium for dynamically setting port forbidden zone Download PDFInfo
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- 238000007726 management method Methods 0.000 claims description 11
- 238000011065 in-situ storage Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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 application relates to a vehicle scheduling planning method, a system, equipment and a medium for dynamically setting a port forbidden zone, wherein a forbidden zone is set by an A-forbidden zone trigger source; b-area processing module records forbidden area information when receiving forbidden area signals from the trigger source, marks nodes in forbidden areas in the map used by the scheduling planning module as forbidden; the C-scheduling planning module performs scheduling planning on the automatic driving vehicle; d-the forbidden zone triggering source releases the forbidden zone; when the E-region processing module receives a forbidden region signal from the trigger source, removing forbidden region information, and marking nodes in the forbidden region in the map used by the scheduling planning module as allowed traffic; the method for scheduling and planning the automatic driving vehicle during the dynamic setting and releasing of the forbidden region provided by the application ensures that the automatic driving vehicle dynamically adjusts the tasks and the driving paths during the dynamic setting of the forbidden region, thereby ensuring that the wharf operation is automatically completed.
Description
Technical Field
The application relates to the technical field of wharf automatic operation, in particular to a vehicle scheduling planning method, system, equipment and medium for dynamically setting a forbidden zone of a port.
Background
In daily operations of the container terminal, the setting and release of the forbidden area occur at any time. For example: when the shore bridge performs cabin cover plate operation, the area under the shore bridge is set as a forbidden area, and the forbidden area is released after the operation is finished; when the tire crane transfers between storage yards, all areas of the tire crane driving route are set as forbidden areas, and the forbidden areas are released after the transfer is finished; when maintenance or other conditions exist in some areas, the areas need to be set as forbidden areas, and the forbidden areas are released after the operation is finished. When the no-go zone is set, vehicles in the zone are allowed to pass, and vehicles not in the zone are prevented from entering. Therefore, in the port automatic driving operation process, the scheduling and planning problem of the vehicles under the condition of dynamic setting of the forbidden area needs to be solved.
Disclosure of Invention
The application aims to provide a vehicle dispatching planning method aiming at the dynamic setting condition of a forbidden zone, so that the automatic driving vehicle can dynamically adjust tasks and driving paths when the forbidden zone is dynamically set, thereby ensuring that the automatic driving vehicle can not pass through the forbidden zone and automatically complete wharf operation.
In order to achieve the above purpose, the application provides the following technical scheme,
the application provides a vehicle scheduling planning method for dynamically setting a port forbidden zone, which comprises the following steps:
a-setting a forbidden region by a forbidden region trigger source;
b-area processing module records forbidden area information when receiving forbidden area signals from the trigger source, marks nodes in forbidden areas in the map used by the scheduling planning module as forbidden;
the C-scheduling planning module performs scheduling planning on the automatic driving vehicle;
d-the forbidden zone triggering source releases the forbidden zone;
when the E-region processing module receives a forbidden region signal from the trigger source, removing forbidden region information, and marking nodes in the forbidden region in the map used by the scheduling planning module as allowed traffic;
and F-scheduling planning module searches the mapping table of the forbidden zone ID and the vehicle ID recorded in the step C according to the forbidden zone ID to obtain the vehicle which is parked in situ, and performs path planning on the vehicle based on the current task.
The application further provides a method for setting the forbidden region by the forbidden region triggering source, which comprises the following steps: the method comprises the following steps: if the on-site operation equipment of the wharf performs cabin cover plate operation on the shore bridge, the number of the shore bridge is obtained to obtain a shore bridge ID, and a cabin cover plate operation signal of the shore bridge is sent to an area processing module of the fleet management system; the second mode is to operate according to the graphic interactive interface of the vehicle team management system, and the boundary coordinates generated when the mouse drags the selected area as the forbidden area are sent to the area processing module of the vehicle team management system.
The application further provides that the forbidden area information mainly comprises: forbidden zone ID, forbidden zone type, forbidden zone boundary coordinates.
The application further provides that when the area processing module processes according to different forbidden area signals: if the trigger signal is a quay bridge deck plate operation signal, the area processing module searches a quay bridge position coordinate and calculates a forbidden area boundary coordinate according to a quay bridge ID and a quay bridge boundary geometric parameter, a unique forbidden area ID is generated, and the forbidden area type is set as 'deck plate operation'; when the trigger signal is a drag-and-drop region on the graphical interactive interface, the region processing module generates a unique forbidden region ID, sets the forbidden region type as a designated type in the interface, and takes the received boundary coordinates as forbidden region boundary coordinates.
The application further provides that the scheduling planning module marks nodes of the topological map in the high-precision map in the forbidden zone as 'forbidden traffic', the data structures corresponding to the 'forbidden traffic' marks are a set, and elements in the set are forbidden zone IDs. When the set is empty, this node is indicated as "passable". When a forbidden zone is set, the "forbidden" flag procedure is to add the forbidden zone ID to the collection. When the forbidden region is released, the "allowed pass" marking process is to remove the forbidden region ID from the collection.
The application further provides that the scheduling planning module carries out geometric calculation aiming at the path of each vehicle, judges whether the current position of the vehicle passes through the forbidden region in the process of reaching the end point, and if the vehicle does not pass through the forbidden region, the vehicle continues to run according to the original path; if the vehicle would pass through the forbidden area, the vehicle is re-routed.
The application further provides that the path planning calculation process is carried out again:
1. obtaining a task target coordinate of the vehicle from the vehicle task as an end point;
2. taking the current position coordinates of the vehicle as a starting point of the vehicle;
3. traversing adjacent nodes which can pass through the vehicle from a starting point of the vehicle based on a topological map in the high-precision map, finding nodes which are the shortest distance away from the starting point, continuously traversing adjacent nodes which can pass through the previous round of nodes, finding nodes which are the shortest distance away from the starting point, and iterating for a plurality of rounds until a terminal point is found;
4. if the endpoint cannot be found, the path planning is unsuccessful. If the path planning is successful, the vehicle runs forwards according to the new path result; if the path planning is unsuccessful, a temporary waiting area task is allocated for the vehicle, and a new path planning of a target point is performed for the vehicle;
5. if the path planning based on the temporary waiting area task is unsuccessful, recording the mapping relation between the current forbidden area ID and the vehicle ID, and stopping and waiting in situ;
6. if the path planning based on the temporary waiting area task is successful, the vehicle starts to the temporary waiting area according to the new path result. When the vehicle reaches the temporary waiting area, the original task is continuously scheduled to be executed for the vehicle;
the application also provides a vehicle scheduling planning system for dynamically setting the port forbidden zone, which is used for realizing a vehicle scheduling planning method for dynamically setting the port forbidden zone, and comprises the following steps:
the forbidden region triggering source is used for triggering forbidden region signals and sending the forbidden region signals to the region processing module;
the area processing module records forbidden area information or removes forbidden area information when receiving forbidden area signals from the trigger source;
and the scheduling planning module marks nodes in a forbidden area in the used map as forbidden traffic or allowed traffic, and can schedule and plan the automatic driving vehicle.
The application also provides computer equipment, which comprises a memory and a processor, wherein the memory is used for storing computer instructions, and the processor executes the computer instructions so as to execute a vehicle scheduling planning method dynamically set for a forbidden zone of a port.
The application also provides a computer readable storage medium storing computer instructions for causing the computer to perform a vehicle dispatch planning method for dynamic setting of a port forbidden zone.
The application has the beneficial effects that: the method for scheduling and planning the automatic driving vehicle during the dynamic setting and releasing of the forbidden region provided by the application ensures that the automatic driving vehicle dynamically adjusts the task and the driving path during the dynamic setting of the forbidden region, thereby ensuring that the automatic driving vehicle can not pass through the forbidden region and automatically complete the wharf operation. In addition, nodes on the topological map for path planning are marked in a forbidden region, and a path planning result which does not pass through the forbidden region is calculated through marking the path; after the forbidden zone is set, aiming at the problem that the original task cannot plan a new path, a temporary waiting zone task is distributed for the automatic driving vehicle to serve as a transfer task, so that the vehicle can continue to complete the task; and after the forbidden area is released, finding out the in-situ parking vehicle according to the mapping relation between the forbidden area ID and the vehicle ID, and recovering the running.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a diagram illustrating a scheduling system according to an embodiment of the present application.
Fig. 2 is a flowchart of a scheduling method according to an embodiment of the present application after setting a forbidden region.
Fig. 3 is a flowchart of a scheduling method according to an embodiment of the present application after releasing a forbidden region.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be given with reference to the accompanying drawings and examples, by which the implementation process of how the present application can be applied to solve the technical problems and achieve the technical effects can be fully understood and implemented.
As shown in fig. 1, a system composition diagram provided by the application comprises an area processing module, a scheduling and planning module, a forbidden area triggering source and an automatic driving vehicle, when the forbidden area triggering source sets up a port forbidden area, the area processing module of the fleet management system records information of the forbidden area and marks nodes located in the area in a high-precision map as forbidden traffic, the scheduling and planning module judges vehicles passing through the forbidden area according to the path from the current position to the end point of the vehicles and the boundary coordinates of the area, the vehicles are re-planned based on the task information of the vehicles (whether the nodes are forbidden or not is considered in path planning, the planned path result does not pass through the forbidden area), if the planning is unsuccessful, a waiting area task is allocated to the vehicles, and if the waiting area task path planning fails, the vehicles are parked in place.
When the forbidden zone triggers the release of the source port forbidden zone, the regional processing module of the fleet management system removes the information of the forbidden zone and marks the nodes located in the region in the high-precision map as allowed traffic, and the scheduling planning module carries out path planning again on vehicles waiting for in-situ parking based on the current task.
As shown in fig. 2-3, the application also provides a vehicle dispatching planning method for dynamically setting a forbidden zone of a port, which comprises the following basic processes:
a) The forbidden region triggering source sets a forbidden region:
there are different arrangements of the forbidden area trigger sources. One is that quay field operation equipment, such as a quay, will form a quay ID by the quay number when performing deck operations, and a quay deck operation signal is sent to an area processing module of the fleet management system. Another is a graphical interactive interface of the fleet management system, such as using a mouse to drag a region as a forbidden region, resulting in boundary coordinates that are sent to the regional processing module of the fleet management system.
b) When the regional processing module receives a forbidden region signal from the trigger source, the forbidden region information is recorded, and nodes in the forbidden region in the map used by the scheduling planning module are marked as 'forbidden traffic';
the forbidden area information mainly comprises: forbidden zone ID, forbidden zone type, forbidden zone boundary coordinates
The area processing module processes according to different forbidden area signals: when the trigger signal is the operation of the cabin cover plate of the shore bridge, the area processing module searches the position coordinates of the shore bridge and calculates the boundary coordinates of the forbidden area according to the boundary geometric parameters of the shore bridge ID, generates a unique forbidden area ID, and the forbidden area type is set as 'cabin cover plate operation'; when the trigger signal is a drag-and-drop region on the graphical interactive interface, the region processing module generates a unique forbidden region ID, sets the forbidden region type as a designated type in the interface, and takes the received boundary coordinates as forbidden region boundary coordinates.
The scheduling planning module marks nodes of the topological map in the forbidden region in the high-precision map as 'forbidden traffic', the data structures corresponding to the 'forbidden traffic' marks are a set, and elements in the set are forbidden region IDs. When the set is empty, this node is indicated as "passable". When a forbidden zone is set, the "forbidden" flag procedure is to add the forbidden zone ID to the collection. When the forbidden region is released, the "allowed pass" marking process is to remove the forbidden region ID from the collection.
c) The dispatching planning module carries out dispatching planning on the automatic driving vehicle:
the scheduling planning module performs geometric calculation on the path of each vehicle and judges whether the vehicle passes through the forbidden area in the process of reaching the end point from the current position of the vehicle.
If the vehicle does not pass through the no-go zone, the vehicle continues to travel along the original path. If the starting point is in the forbidden zone and the ending point is not in the forbidden zone, the vehicle is also considered not to pass through the forbidden zone (the corresponding scene is that the vehicle is just in the forbidden zone, and the vehicle is allowed to continue to travel out of the forbidden zone).
If the vehicle would pass through the forbidden area, the vehicle is re-routed. Path planning calculation process:
1. obtaining task target coordinates of a vehicle from the vehicle task as an end point
2. Taking the current position coordinate of the vehicle as the starting point of the vehicle
3. Based on the topological map in the high-precision map, traversing adjacent nodes which can pass through from the starting point of the vehicle, finding nodes which are the shortest distance from the starting point, continuously traversing adjacent nodes which can pass through of the nodes found in the previous round, finding nodes which are the shortest distance from the starting point, and carrying out multiple iterations until the end point is found.
4. If the endpoint cannot be found, the path planning is unsuccessful.
If the path planning is successful, the vehicle travels forward according to the new path result.
If the path planning is unsuccessful, a temporary waiting area task is allocated for the vehicle, and a new path planning of the target point is performed for the vehicle.
If the path planning based on the temporary waiting area task is unsuccessful, the mapping relation between the current forbidden area ID and the vehicle ID is recorded, and the vehicle is parked and waiting in place.
If the path planning based on the temporary waiting area task is successful, the vehicle starts to the temporary waiting area according to the new path result. When the vehicle reaches the temporary waiting area, the original task is continuously scheduled for the vehicle.
d) The forbidden region triggers the source to release the forbidden region. For example, the shore bridge sends a deck plate operation ending signal; release information comprising forbidden zone ID sent by graphical interactive interface
e) When the regional processing module receives a forbidden region signal from the trigger source, the forbidden region information is removed, and nodes in the forbidden region in the map used by the scheduling planning module are marked as allowed traffic;
f) And c, searching a mapping table of the forbidden zone ID and the vehicle ID recorded in the step c by the scheduling planning module according to the forbidden zone ID to obtain a vehicle which is parked in situ, and planning a path of the vehicle based on the current task.
If the path planning is successful, the automatic driving vehicle runs forward according to the planning result. Otherwise, continuing to park in situ for waiting.
As shown in fig. 4, the present application further provides a computer device, where the device includes a memory, and a processor, where the memory is configured to store computer instructions, and the processor executes the computer instructions, so as to execute a vehicle scheduling planning method dynamically set for a port forbidden zone.
The application also provides a computer readable storage medium storing computer instructions for causing the computer to perform a vehicle dispatch planning method for dynamic setting of a port forbidden zone.
The method for scheduling and planning the automatic driving vehicle during the dynamic setting and releasing of the forbidden region provided by the application ensures that the automatic driving vehicle dynamically adjusts the task and the driving path during the dynamic setting of the forbidden region, thereby ensuring that the automatic driving vehicle can not pass through the forbidden region and automatically complete the wharf operation. The method comprises the steps of marking a forbidden region for nodes on a topological map for path planning, and calculating a path planning result which does not pass through the forbidden region through marking on a path; after the forbidden zone is set, aiming at the problem that the original task cannot plan a new path, a temporary waiting zone task is distributed for the automatic driving vehicle to serve as a transfer task, so that the vehicle can continue to complete the task; and after the forbidden area is released, finding out the in-situ parking vehicle according to the mapping relation between the forbidden area ID and the vehicle ID, and recovering the running.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As used throughout the specification and claims, the word "comprise" is an open-ended term, and thus should be interpreted to mean "include, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
While the foregoing description illustrates and describes the preferred embodiments of the present application, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the application are intended to be within the scope of the appended claims.
Claims (8)
1. A vehicle dispatch planning method for dynamically setting a port forbidden zone, the method comprising:
a-setting a forbidden region by a forbidden region trigger source;
b-area processing module records forbidden area information when receiving forbidden area signals from the trigger source, marks nodes in forbidden areas in the map used by the scheduling planning module as forbidden;
the C-scheduling planning module performs scheduling planning on the automatic driving vehicle;
d-the forbidden zone triggering source releases the forbidden zone;
when the E-region processing module receives a forbidden region signal from the trigger source, removing forbidden region information, and marking nodes in the forbidden region in the map used by the scheduling planning module as allowed traffic;
f-scheduling planning module searches the mapping table of forbidden zone ID and vehicle ID recorded in step C according to forbidden zone ID to obtain vehicle parked in situ, and performs path planning on the vehicle based on current task;
the scheduling planning module performs geometric calculation on the path of each vehicle and judges whether the current position of the vehicle passes through a forbidden area in the process of reaching the end point;
if the vehicle does not pass through the forbidden area, the vehicle continues to run along the original path;
if the vehicle passes through the forbidden area, re-routing the vehicle, wherein the re-routing process comprises the following steps:
(1) Obtaining a task target coordinate of the vehicle from the vehicle task as an end point;
(2) Taking the current position coordinates of the vehicle as a starting point of the vehicle;
(3) Traversing adjacent nodes which can pass through the vehicle from the starting point of the vehicle based on a topological map in the high-precision map, finding nodes which are the shortest distance from the starting point, continuously traversing adjacent nodes which can pass through the previous round of nodes, finding nodes which are the shortest distance from the starting point, and iterating for a plurality of rounds until a terminal point is found;
(4) If the end point cannot be found, the path planning is unsuccessful; if the path planning is successful, the vehicle runs forwards according to the new path result; if the path planning is unsuccessful, a temporary waiting area task is allocated to the vehicle,
and planning a new path of the target point;
(5) If the path planning based on the temporary waiting area task is unsuccessful, recording the mapping relation between the current forbidden area ID and the vehicle ID, and stopping and waiting in situ;
(6) If the path planning based on the task of the temporary waiting area is successful, the vehicle starts to the temporary waiting area according to the new path result; when the vehicle reaches the temporary waiting area, the original task is continuously scheduled for the vehicle.
2. The method of claim 1, wherein the forbidden zone information comprises at least one of: forbidden zone ID, forbidden zone type, forbidden zone boundary coordinates.
3. The method of claim 1, wherein the forbidden zone trigger source sets the forbidden zone in the following manner:
if the on-site operation equipment of the wharf performs cabin cover plate operation on the shore bridge, the number of the shore bridge is obtained to obtain a shore bridge ID, and a cabin cover plate operation signal of the shore bridge is sent to an area processing module of the fleet management system; or (b)
And operating according to the graphic interactive interface of the fleet management system, and sending boundary coordinates generated when using the mouse drag-and-select area as a forbidden area to an area processing module of the fleet management system.
4. The method of claim 3, wherein the region processing module processes according to different forbidden region signals:
if the trigger signal is a quay bridge deck plate operation signal, the area processing module searches a quay bridge position coordinate and calculates a forbidden area boundary coordinate according to a quay bridge ID and a quay bridge boundary geometric parameter, a unique forbidden area ID is generated, and the forbidden area type is set as 'deck plate operation';
if the trigger signal is a drag-and-drop region on the graphical interactive interface, the region processing module generates a unique forbidden region ID, sets the forbidden region type as a type appointed in the interface, and takes the received boundary coordinates as forbidden region boundary coordinates.
5. The method of claim 3, wherein,
the scheduling planning module marks nodes of the topological map in the forbidden region in the high-precision map as 'forbidden traffic', the data structures corresponding to the 'forbidden traffic' marks are set, elements in the set are forbidden region IDs, and when the set is empty, the nodes are indicated to be 'allowed traffic';
when a forbidden zone is set, the forbidden zone ID is added to the set in the process of 'forbidden traffic' marking;
when the forbidden region is released, the "allowed pass" marking process is to remove the forbidden region ID from the collection.
6. A vehicle dispatch planning system for dynamic setting of port forbidden regions, the system comprising:
the forbidden region triggering source is used for triggering forbidden region signals and sending the forbidden region signals to the region processing module;
the area processing module records forbidden area information or removes forbidden area information when receiving forbidden area signals from the trigger source;
the scheduling planning module marks nodes in a forbidden area in the used map as forbidden traffic or allowed traffic, and performs scheduling planning on the automatic driving vehicle;
the scheduling planning module performs geometric calculation on the path of each vehicle and judges whether the current position of the vehicle passes through a forbidden area in the process of reaching the end point;
if the vehicle does not pass through the forbidden area, the vehicle continues to run along the original path;
if the vehicle passes through the forbidden area, re-routing the vehicle, wherein the re-routing process comprises the following steps:
(1) Obtaining a task target coordinate of the vehicle from the vehicle task as an end point;
(2) Taking the current position coordinates of the vehicle as a starting point of the vehicle;
(3) Traversing adjacent nodes which can pass through the vehicle from the starting point of the vehicle based on a topological map in the high-precision map, finding nodes which are the shortest distance from the starting point, continuously traversing adjacent nodes which can pass through the previous round of nodes, finding nodes which are the shortest distance from the starting point, and iterating for a plurality of rounds until a terminal point is found;
(4) If the end point cannot be found, the path planning is unsuccessful; if the path planning is successful, the vehicle runs forwards according to the new path result; if the path planning is unsuccessful, a temporary waiting area task is allocated to the vehicle,
and planning a new path of the target point;
(5) If the path planning based on the temporary waiting area task is unsuccessful, recording the mapping relation between the current forbidden area ID and the vehicle ID, and stopping and waiting in situ;
(6) If the path planning based on the task of the temporary waiting area is successful, the vehicle starts to the temporary waiting area according to the new path result; when the vehicle reaches the temporary waiting area, the original task is continuously scheduled for the vehicle.
7. A computer device, characterized in that the device comprises a memory for storing computer instructions, and a processor for executing a vehicle dispatch planning method according to any one of claims 1-5 for dynamic setting of port forbidden zones by executing the computer instructions.
8. A computer-readable storage medium storing computer instructions for causing the computer to perform a vehicle dispatch planning method for dynamic setting of a port forbidden zone according to any one of claims 1-5.
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| CN114839996A (en) | 2022-08-02 |
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