The invention discloses a port signal-lamp-free multi-intersection unmanned container truck cooperative scheduling method. Modeling the global conflict area priority of the container trucks as a Markov decision process, regarding the container trucks as nodes of an undirected complete graph, constructing a priority relationship decision network of a graph neural strategy network, and processing the current state of each container truck to obtain the priority relationship between the container trucks; splitting processing and optimization solving are carried out by combining the transportation state of each container truck acquired in real time, and the passing sequence relation of all the container trucks at each intersection at the current moment is obtained; and arranging and controlling each container truck to pass through at each intersection. According to the method, more efficient traffic flow scheduling can be realized through global and prospective processing, the long-term global efficiency of the port container truck is optimized, the TD3 and the BC are combined to learn the global priority relationship suitable for a system with dynamic change and complex interaction, the processing is accelerated, and the timeliness requirement of a practical application scene of the port container truck is met.
本发明公开了一种港口无信号灯多交叉路口无人驾驶集卡协同调度方法。将集卡的全局冲突区域优先级建模为马尔科夫决策过程,将集卡视为无向完全图的节点,并构建图神经策略网络的优先级关系决策网络,对各个集卡的当前状态进行处理获得集卡间的优先级关系;再结合实时获取的各个集卡的运输状态,进行拆分处理并进行优化求解,得到当前时刻各个交叉路口的所有集卡通行顺序关系;在每个交叉路口处安排控制各个集卡通过。本发明通过全局和前瞻性的处理能实现更高效的交通流调度,优化港口集装箱集卡的长期全局效率,并结合了TD3和BC来学习适用于具有动态变化和复杂交互的系统的全局优先级关系,加速了处理,满足港口集卡实际应用场景的及时性要求。
Cooperative scheduling method for unmanned container trucks at multiple intersections without signal lamps at port
一种港口无信号灯多交叉路口无人驾驶集卡协同调度方法
2024-09-17
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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