WO2019015066A1 - 一种实现车辆自动运输的系统及方法、相关设备 - Google Patents

一种实现车辆自动运输的系统及方法、相关设备 Download PDF

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Publication number
WO2019015066A1
WO2019015066A1 PCT/CN2017/102034 CN2017102034W WO2019015066A1 WO 2019015066 A1 WO2019015066 A1 WO 2019015066A1 CN 2017102034 W CN2017102034 W CN 2017102034W WO 2019015066 A1 WO2019015066 A1 WO 2019015066A1
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WIPO (PCT)
Prior art keywords
vehicle
loading
unloading
road
controller
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.)
Ceased
Application number
PCT/CN2017/102034
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English (en)
French (fr)
Inventor
吴楠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Tusen Weilai Technology Co Ltd
Original Assignee
Beijing Tusen Weilai Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Tusen Weilai Technology Co Ltd filed Critical Beijing Tusen Weilai Technology Co Ltd
Priority to EP17918419.7A priority Critical patent/EP3657290B1/en
Priority to EP23157870.9A priority patent/EP4206850B1/en
Publication of WO2019015066A1 publication Critical patent/WO2019015066A1/zh
Priority to US16/748,730 priority patent/US11467577B2/en
Anticipated expiration legal-status Critical
Priority to US18/045,420 priority patent/US11720103B2/en
Priority to US18/363,676 priority patent/US12140951B2/en
Ceased legal-status Critical Current

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    • 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
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
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    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/661—Docking at a base station
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06Q10/08355—Routing methods
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G08G1/096816—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the complete route is transmitted to the vehicle at once
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/09685—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is computed only once and not updated

Definitions

  • the present invention relates to the field of automatic driving, and more particularly to a system for realizing automatic transportation of a vehicle, a method for realizing automatic transportation of the vehicle, a vehicle controller and an operation system.
  • the present invention provides a system and method for realizing automatic transportation of vehicles, and related equipment, so as to realize automatic cargo transportation, reduce transportation costs and reduce driving safety hazards.
  • Embodiments of the present invention provide a system for realizing automatic transportation of a vehicle, including an operation system and a vehicle controller of the vehicle, wherein:
  • a vehicle controller configured to control a road card position of the vehicle automatically driving to the target road port entrance according to the transportation plan, and interact with the road card controller corresponding to the road card position to complete the automatic card; and control the vehicle from The road card position is automatically driven to the designated loading and unloading position in the target road port, and the loading and unloading position is interacted with the loading and unloading control device to complete the automatic loading and unloading.
  • An embodiment of the present invention further provides a vehicle controller, including:
  • a communication unit for transmitting and receiving information
  • a control unit for controlling the automatic driving of the vehicle to the target highway port entrance according to the transportation plan received by the communication unit a road card position
  • the road card controller corresponding to the road card position interacts to complete the automatic card; and controls the vehicle to automatically drive from the road card position to the designated loading and unloading position in the target road port, and
  • the loading and unloading position interacts with the loading and unloading control device to complete the automatic loading and unloading.
  • An embodiment of the present invention further provides an operation system, including:
  • a vehicle dispatching unit configured to formulate a transportation plan for the vehicle and transmit the transportation plan to a vehicle controller of the vehicle; and adjust a transportation plan of the vehicle according to a transportation plan execution schedule of the vehicle;
  • a control unit configured to acquire a transportation plan execution progress of the vehicle executing the transportation plan, and send the transportation plan execution progress to the vehicle scheduling unit.
  • the embodiment of the invention further provides a method for realizing automatic transportation of a vehicle, comprising:
  • the operating system formulates a transportation plan for the vehicle and transmits the transportation plan to the vehicle controller of the vehicle;
  • the vehicle controller controls the road card position that the vehicle automatically drives to the target road port entrance according to the transportation plan, and the road card controller corresponding to the road card position interacts to complete the automatic card; and controls the vehicle from the road
  • the card position is automatically driven to the designated loading and unloading position in the target road port, and the loading and unloading position is interacted with the loading and unloading control device to complete the automatic loading and unloading.
  • the system and method for realizing automatic vehicle transportation provided by the embodiments of the present invention, on the one hand, managing and scheduling each vehicle by the operation system, formulating a transportation plan for each vehicle, and synchronizing the transportation plan to the vehicle controller of the corresponding vehicle, without management
  • the vehicle can realize vehicle management and dispatching; on the other hand, the vehicle controller controls the vehicle to execute the transportation plan to complete the automatic transportation of the goods, and the cargo transportation can be realized without the truck driver; on the other hand, the vehicle controller controls Driving the vehicle, there is no problem such as driver fatigue driving, drunk driving, poison driving, etc., to improve driving safety. Therefore, the technical solution of the invention not only reduces the cost of cargo transportation, but also reduces the safety hazard during driving of the vehicle.
  • FIG. 1 is a schematic structural diagram of a system for realizing automatic transportation according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a highway port according to an embodiment of the present invention.
  • FIG. 3 is a second schematic structural diagram of a highway port according to an embodiment of the present invention.
  • FIG. 4 is a third structural schematic diagram of a highway port according to an embodiment of the present invention.
  • FIG. 5A is a schematic diagram of a road card position as a turntable according to an embodiment of the present invention.
  • FIG. 5B is a second schematic diagram of a road card position as a turntable according to an embodiment of the present invention.
  • FIG. 6 is a fourth structural schematic diagram of a highway port according to an embodiment of the present invention.
  • FIG. 7 is a fifth structural schematic diagram of a highway port according to an embodiment of the present invention.
  • Figure 8 is a schematic structural view of a compartment door according to an embodiment of the present invention.
  • Figure 9 is a second schematic structural view of a compartment door according to an embodiment of the present invention.
  • Figure 10 is a third structural schematic view of a compartment door according to an embodiment of the present invention.
  • Figure 11 is a fourth structural schematic view of a compartment door according to an embodiment of the present invention.
  • FIG. 12 is a sixth structural schematic diagram of a highway port according to an embodiment of the present invention.
  • FIG. 13 is a seventh structural diagram of a highway port according to an embodiment of the present invention.
  • Figure 14 is a schematic structural diagram VIII of a highway port according to an embodiment of the present invention.
  • Figure 15 is a schematic view showing the structure of a highway port according to an embodiment of the present invention.
  • 16 is a second schematic structural diagram of a system for implementing automatic transportation in an embodiment of the present invention.
  • 17 is a third structural schematic diagram of a system for implementing automatic transportation in an embodiment of the present invention.
  • FIG. 18 is a schematic structural diagram of a vehicle controller according to an embodiment of the present invention.
  • FIG. 19 is a schematic structural diagram of an operation system according to an embodiment of the present invention.
  • 21 is a second flowchart of a method for implementing automatic transportation according to an embodiment of the present invention.
  • 22 is a third flowchart of a method for implementing automatic transportation according to an embodiment of the present invention.
  • FIG. 23 is a fourth flowchart of a method for implementing automatic transportation according to an embodiment of the present invention.
  • the vehicle controller may be a DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array) controller, industrial computer, driving computer, ECU (Electronic Control Unit) or VCU (Vehicle Control Unit, vehicle controller), etc. Be strictly limited.
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • industrial computer driving computer
  • ECU Electronic Control Unit
  • VCU Vehicle Control Unit, vehicle controller
  • the method and system for realizing automatic vehicle transportation provided by the invention are applicable to cargo transportation in all closed areas, such as highway ports, sea port, cargo distribution centers, warehouses, factories, logistics parks and the like.
  • closed areas such as highway ports, sea port, cargo distribution centers, warehouses, factories, logistics parks and the like.
  • the embodiments of the present invention are described by taking the closed area as a highway port as an example.
  • the principle of automatic transportation of other closed areas is the same, and the embodiments of the present invention are not described one by one.
  • the system includes an operation system 11 and a vehicle controller 12 of a plurality of vehicles, wherein
  • the vehicle controller 12 is configured to control, according to the transportation plan, a road card position that is automatically driven by the vehicle to the target road port entrance, and the road card controller 13 corresponding to the road card position performs an interaction to complete the automatic card insertion; and, the control is performed.
  • the vehicle automatically drives from the road card position to the designated loading and unloading position in the target road port, and interacts with the loading and unloading control device 14 at the loading and unloading position to complete the automatic loading and unloading.
  • an operation system 11 can dispatch and manage cargo transportation between a highway port and a highway port, and transport cargo between a highway port and other locations.
  • the foregoing location may be a warehouse, a dock, or the like. Linhai port, freight distribution center, logistics park, railway station, airport, etc., this application is not limited.
  • the road port is provided with an entrance, an exit, and a plurality of warehouses (multiple warehouses are provided with corresponding numbers), and a road card is disposed at the entrance, and the vehicle automatically performs card at the road card position.
  • each warehouse is provided with a warehouse door, and a corresponding loading and unloading position is arranged in front of the warehouse door.
  • the vehicle stops and stops at the loading and unloading position corresponding to the target warehouse, and the predetermined warehouse is loaded from the target warehouse.
  • the goods, or the goods loaded on the vehicle are discharged into the target warehouse.
  • the highway port is provided with an entrance, an exit, and a plurality of loading and unloading positions (a plurality of loading and unloading positions are provided with corresponding numbers, the goods are stacked near the loading and unloading position, and the goods can be loaded through the container. It may be a random stacking, and the vehicle is controlled to automatically drive from the road card position to a designated loading and unloading position in the target road port, and loading or unloading is performed at the loading and unloading position.
  • the road card of the highway port is set as an automatic road card, and the road card is controlled to be turned on/off by the corresponding road card controller 13 to realize release and non-release of the vehicle.
  • the road card may be a road pole, an electric retractable door, an electric sliding door, etc., and the application is not strictly limited.
  • the vehicle controller 12 interacts with the road card controller 13 corresponding to the location of the road card to complete the automatic card.
  • the specific implementation may be as follows: the road card controller 13 acquires the vehicle identification information of the vehicle, and performs identity verification on the vehicle identification information, and controls the road card release when the verification passes; the vehicle controller 12 determines that the road card is released. At the time, the vehicle is controlled to start and pass the road card position.
  • the vehicle controller 12 determines that the road card is released, and specifically includes: the vehicle controller 12 determines that the road card is released when receiving the permission permission indication sent by the road card controller 13; or the vehicle controller 12 passes the vehicle
  • the sensor detects whether the road card is released, and determines that the road card is released when detecting the release.
  • the vehicle controller 12 detects whether the road card is released by the vehicle-mounted sensor, and specifically includes: when the vehicle controller 12 determines that the road card is in the release state by using an image sent by the vehicle-mounted sensor or point cloud data, determining that the road card is released.
  • the road card controller 13 acquires the vehicle identification information of the vehicle, and can be implemented by, but not limited to, any one of the following modes (method A1 to mode A2):
  • the road card controller 13 actively identifies the vehicle identification information of the vehicle.
  • Mode A1 can be specifically but not limited to the following two ways:
  • the road card controller 13 controls the sensor to capture the vehicle, performs image recognition processing on the captured image, and obtains vehicle identification information of the vehicle.
  • the sensor may be a camera that can be mounted near the position of the road card, and the lens is facing the parking position, for example, on a road card, a road card controller, or a fixture next to the road card position.
  • the angle of the camera's lens can be adjusted automatically.
  • the road card controller 13 can perform image processing on the image according to the image returned by the camera. If the vehicle identification information is recognized from the image, the vehicle identification information is verified; if the vehicle identification information is not recognized from the image The shooting angle of the camera is automatically adjusted to repeat the aforementioned actions until the vehicle identification information is recognized.
  • the road card controller 13 recognizes the vehicle identification information from the image, which can be specifically realized by the road card controller 13 extracting features from the image, and comparing the extracted features with the features corresponding to the preset vehicle identification information.
  • the vehicle identification information is determined according to the characteristics of the comparison success.
  • the foregoing vehicle identification information is information uniquely associated with the vehicle, and may be, for example, a license plate number.
  • the features corresponding to the vehicle identification information include size, shape (rectangular frame), color (blue or black), character features (length of the character string in the rectangular frame), and the like.
  • the road card controller 13 controls the sensor to scan a two-dimensional code or barcode on the vehicle to obtain vehicle identification information of the vehicle.
  • a two-dimensional code or a barcode including vehicle identification information may be attached or printed in advance at a specific position of the vehicle, such as a front windshield or a left side panel of the vehicle.
  • the sensor may be a camera that can be mounted near the position of the road card, and the lens is facing the parking position, for example, on a road card, a road card controller, or a fixture next to the road card position.
  • the angle of the camera's lens can be adjusted automatically.
  • the road card controller 13 adjusts the shooting angle of the camera until the QR code or barcode is successfully scanned until.
  • the road card controller 13 receives vehicle identification information of the vehicle from the vehicle controller 12.
  • the vehicle controller 12 interacts with the road card controller 13 corresponding to the location of the road card to complete the automatic card insertion, but is not limited to any of the following modes (mode B1 to mode B3):
  • Mode B1 the vehicle controller 12 and the road card controller 13 perform two-way information interaction.
  • the vehicle controller 12 transmits the vehicle identification information to the road card controller 13 and, when receiving the permission permission indication sent by the road card controller 13, controls the vehicle to start and enters the target road port; the road card control
  • the device 13 authenticates the vehicle identification information, releases the vehicle when the verification passes, and transmits an allowable traffic indication to the vehicle controller 12.
  • the vehicle identification information may be identity information uniquely corresponding to the vehicle, and may be, for example, a license plate number of the vehicle, a vehicle identification code, or the like.
  • the vehicle controller 12 and the road card controller 13 can communicate through a local area network inside the highway port, or can communicate through a communication method such as a base station, Bluetooth, or wifi.
  • the mode B2 and the vehicle controller 12 perform one-way information interaction with the road card controller 13.
  • the vehicle controller 12 transmits vehicle identification information to the road card controller 13, and when it is determined that the road card controller 13 is released, controls the vehicle to start and enter the target road port; accordingly, the road card control
  • the device 13 authenticates the vehicle identification information and releases the vehicle when the verification is passed.
  • the vehicle controller 12 can detect whether the front road card is in the release state by the information returned by the vehicle sensor (such as the camera, the laser radar, the millimeter wave radar, etc.), and if yes, determine that the road card controller 13 is released, if otherwise determined The road card controller 13 is not released. For example, when the road card is a road pole, if the road pole is detected to be lifted, the release is determined; when the road card is an electric retractable door or a sliding door, if the electric retractable door/sliding door is detected to move to one side or both sides and Release is determined when detecting obstacles in front.
  • the vehicle sensor such as the camera, the laser radar, the millimeter wave radar, etc.
  • vehicle controller 12 and road card controller 13 have no direct information interaction.
  • the road card controller 13 identifies the vehicle identification information of the vehicle, performs identity verification on the vehicle identification information, and releases the vehicle when the verification passes; the vehicle controller 12 controls when the road card controller 13 is determined to be released. The vehicle starts and enters the target highway port.
  • the road card controller 13 performs identity verification on the vehicle identification information, which can be implemented by, but not limited to, any one of the following modes (method C1 to mode C3):
  • the vehicle identification information of the permitted passing vehicle is stored in the road card controller 13, and the road card controller 13 matches the acquired vehicle identification information with the pre-stored allowed vehicle identification information, and determines when the matching is successful. Verification passed.
  • the pass rule is stored in the road card controller 13 in advance, and the road card controller 13 determines whether the acquired vehicle identification information conforms to the pass rule, and if yes, the verification passes.
  • the pass rules may include, but are not limited to, information that the vehicle type conforms to the preset vehicle type, the license plate number meets certain predetermined areas, or the vehicle identification information has been registered.
  • the pass rules are allowable passage of the vehicle type for the passenger car, allowable passage of the vehicle type for the large truck, permitted passage of the vehicle type for the motor vehicle, permission to pass the license plate number for the local, or permitting the license plate number for registration.
  • the above are only examples and are not exhaustive here.
  • the mode C3 and the road card controller 13 remotely obtain the acquired vehicle identification information to the server, and the server identifies the vehicle identification information by the server; the road card controller 13 receives the identity verification result of the vehicle identification information from the server.
  • the method for authenticating the vehicle identification information by the server may adopt the mode C1 or the mode C2, and details are not described herein again.
  • the vehicle controller 12 determines whether the road card is released, and may be implemented by, but not limited to, any one of the following modes (method D1 to mode D2):
  • the mode D1 determines that the road card is released when receiving the permission permission indication sent by the road card controller 13. That is, the road card controller 13 transmits an allowable traffic indication to the vehicle controller 12 when the authentication is passed.
  • Mode D2 The vehicle controller 12 detects whether the road card is released by the on-board sensor, and determines that the road card is released when detecting the release.
  • the specific implementation of the mode D2 may be as follows: the vehicle controller 12 pre-stores the correspondence relationship between the road card type and the release state thereof; and determines the type and state of the road card by using the image sent by the on-board sensor or the point cloud data. And matching the state with the release state corresponding to the corresponding road card type in the corresponding relationship, and if the matching is successful, determining that the road card is released.
  • the corresponding release state is the road pole lifting; when the road card type is the electric expansion door, the corresponding release state is the reduced state; when the road card type is the electric sliding door , its corresponding release state is open.
  • the entrance point of the road port is also provided.
  • the road card controller 13 guides the vehicle to drive away from the road port from the grooming road when the vehicle identification information of the vehicle fails to pass.
  • the aforementioned road card controller 13 is further configured to: when the verification fails, send a first indication to the vehicle controller 12 that the passage is not allowed and the vehicle is instructed to leave the road card position from the road information.
  • the vehicle controller 12 is further configured to, when receiving the first indication information, control the vehicle to start and leave the road card position.
  • the location of the road card is set to a rotatable turntable, and the road card controller 13 can control the turntable to rotate counterclockwise or clockwise and stop in two directions, one for entering the highway port.
  • the direction (for example, facing the road card), and the other is the direction of the highway port, as shown in Figure 5A, the direction of the road port is back to the road card or As shown in Figure 5B, the direction of exiting the highway port is directly opposite the direction of the road. Therefore, the foregoing road card controller 13 is further configured to: when the verification fails, send the second indication information that is not allowed to pass to the vehicle controller 12, and rotate the turntable to drive the front of the vehicle toward the front of the vehicle.
  • the direction of the road card position correspondingly, the vehicle controller 12 is further configured to, when receiving the second indication information, control the vehicle to start and leave the road card position.
  • the vehicle controller 12 controls the road card position that the vehicle automatically drives to the target road port entrance, and specifically includes: the vehicle controller 12 plans the current position to the road card position, and controls the vehicle. Driving automatically along the driving route; when the vehicle controller 12 recognizes that the front obstacle is a road card by the image or point cloud data sent by the vehicle sensor, and the distance of the road card from the vehicle is less than or equal to a preset distance threshold, the control The vehicle is stopped.
  • the distance threshold may be an empirical value, or may be calculated according to the traveling speed, inertia, and the like of the vehicle, that is, the distance threshold is a distance traveled by the vehicle from braking to stopping.
  • the vehicle controller 12 can plan the travel route of the current location to the road card location through the map software/navigation software of the vehicle side.
  • the vehicle controller 12 controls to control the automatic driving of the vehicle from the location of the road card to a designated loading and unloading location in the target road port, including: planning a first driving from the road card position to the loading and unloading position a route that controls the vehicle to automatically drive to the loading and unloading position along the first travel route.
  • the vehicle controller 12 is further configured to: after the loading and unloading is completed, plan a second driving route from the loading and unloading position to the outlet, and control the vehicle to automatically drive along the second driving route to Exit and drive away from the target highway port.
  • the road port in the second embodiment has a weighing position and a payment position compared with the road port in the first embodiment; a corresponding ground scale sensor is disposed at the weighing position, and the vehicle controller 12 is at the weighing position and the ground scale The sensor performs automatic weighing to complete the interaction; the payment terminal is set at the payment position, and the vehicle controller 12 interacts with the payment terminal at the payment position to complete the automatic payment. After the vehicle controller 12 controls the vehicle to complete the automatic card insertion, the vehicle controller 12 can also sequentially perform the weighing position and the payment position during the process from the card position to the loading and unloading position.
  • the road port shown in Fig. 6 is also provided with a weighing position and a payment position on the basis of the road port shown in Fig. 2.
  • the road port shown in Fig. 7 is also provided with a weighing position and a paying position on the basis of the road port shown in Fig. 3.
  • the vehicle controller 12 controls the vehicle to perform the interaction between the road card and the road card controller 13 to complete the automatic card insertion.
  • the vehicle controller 12 controls the vehicle to perform the interaction between the road card and the road card controller 13 to complete the automatic card insertion.
  • the vehicle controller 12 controls the automatic driving of the vehicle from the road card position to the designated loading and unloading position in the target road port, and specifically includes: controlling the vehicle to automatically drive from the road card position to the weighing a weight position at which the scale sensor 15 corresponding to the weighing position interacts to perform automatic weighing; controlling the vehicle from the weighing position The automatic driving to the payment position is performed, and the payment terminal 16 corresponding to the payment position at the payment position performs interaction to complete the automatic payment; and the vehicle is controlled to automatically drive from the payment position to the loading and unloading position.
  • the vehicle controller 12 performs automatic weighing on the ground scale sensor 15 corresponding to the weighing position at the weighing position, and the specific implementation can be as follows: the ground scale sensor 15 senses stopping at the weighing position. When the vehicle is in the vehicle, the vehicle is weighed and the weighing end information is sent to the vehicle controller 12; when receiving the weighing end information, the vehicle controller 12 controls the vehicle to start and leave the vehicle Weigh the position.
  • the scale sensor 15 is further configured to acquire vehicle identification information of the vehicle; and transmit the weighing result and the vehicle identification information to the payment terminal 16 in association.
  • the ground scale sensor 15 acquires the vehicle identification information of the vehicle, and specifically includes: the ground scale sensor 15 identifies the vehicle identification information of the vehicle; or the ground scale sensor 15 receives the vehicle identification information from the vehicle controller 12 .
  • the vehicle controller 12 performs automatic weighing on the ground scale sensor 15 corresponding to the weighing position at the weighing position, and can be realized by, but not limited to, any one of the following modes (method E1 to mode E2):
  • the mode E1 the vehicle controller 12 sends the vehicle identification information to the ground scale sensor 15, and when receiving the weighing end information sent by the ground scale sensor 15, controls the vehicle to start and leave the weighing position;
  • the ground scale sensor 15 weighs the vehicle, transmits the weighing result and the vehicle identification information to the payment terminal 16, and transmits the weighing end information to the vehicle controller 12.
  • the vehicle controller 12 and the ground scale sensor 15 can communicate through a local area network within the highway port, or can communicate through a communication method such as a base station, wifi, or Bluetooth. This application is not strictly limited.
  • the mode E2 and the ground scale sensor 15 identify the vehicle identification information of the vehicle, and weigh the vehicle, and transmit the weighing result and the vehicle identification information to the payment terminal 16 and control the vehicle.
  • the device 12 transmits the weighing end information; accordingly, when the vehicle controller 12 receives the weighing end information sent by the ground scale sensor 15, the vehicle is controlled to start and leave the weighing position.
  • the ground scale sensor 15 recognizes that the vehicle identification information of the vehicle can be realized by, but not limited to, the following manner F1 or F2:
  • the mode F1 and the ground scale sensor 15 control the sensor to capture the vehicle, perform image recognition processing on the captured image, and obtain vehicle identification information of the vehicle.
  • the sensor may be a camera that is mountable near the weighing position and that is positively symmetrical with respect to the lens, such as a fixture attached to the weighing position.
  • the angle of the camera's lens can be adjusted automatically.
  • the scale sensor 15 can perform image processing on the image according to the image returned by the camera. If the vehicle identification information is recognized from the image, the vehicle identification information is verified; if the vehicle identification information is not recognized from the image, the image is automatically The shooting angle of the camera is adjusted to repeat the aforementioned actions until the vehicle identification information is recognized.
  • the ground scale sensor 15 identifies the vehicle identification information from the image, which can be specifically realized by the ground scale sensor 15 extracting features from the image, and comparing the extracted features with the features corresponding to the preset vehicle identification information, according to Than Vehicle identification information is determined for successful features.
  • the foregoing vehicle identification information is information uniquely associated with the vehicle, and may be, for example, a license plate number.
  • the features corresponding to the vehicle identification information include size, shape (rectangular frame), color (blue or black), character features (length of the character string in the rectangular frame), and the like.
  • the mode F2 and the ground scale sensor 15 control the sensor to scan a two-dimensional code or a barcode on the vehicle to obtain vehicle identification information of the vehicle.
  • a two-dimensional code or barcode containing vehicle identification information may be affixed or printed in advance at a specific position of the vehicle, such as a front windshield, a left side panel of the vehicle, or a vehicle chassis.
  • the scale sensor 15 adjusts the shooting angle of the camera until the two-dimensional code or barcode is successfully scanned.
  • the vehicle controller 12 interacts with the payment terminal 16 corresponding to the payment location at the payment location to complete the automatic payment.
  • the specific implementation may be as follows: the payment terminal 16 acquires the vehicle identification information of the vehicle; the payment terminal 16 acquires The weighing result and the driving mileage corresponding to the vehicle identification information, and calculating a payment amount according to the weighing result and the driving mileage; the payment terminal 16 determines that the vehicle controller 12 pays the payment amount, and then controls the vehicle
  • the device 12 transmits the departure indication information; the vehicle controller 12 controls the vehicle to start and leave the payment position when receiving the departure indication information.
  • the payment terminal 16 is further configured to send the payment amount to the vehicle controller 12; the vehicle controller 12 is further configured to automatically pay the payment amount when receiving the payment amount .
  • the payment terminal 16 determines that the vehicle controller 12 pays the payment amount, and specifically includes: when the payment terminal 16 successfully collects the payment amount paid by the vehicle controller, determining that the vehicle controller pays the payment amount.
  • the vehicle controller 12 automatically pays the payment amount when receiving the payment amount, and specifically includes: the vehicle controller 12 calls the third party payment software to pay the payment amount; or the vehicle controller 12 controls the vehicle camera to scan the payment.
  • the two-dimensional code corresponding to the terminal, and the third party payment software is called to pay the payment amount.
  • the payment terminal 16 is further configured to bill the payment amount under the bill corresponding to the vehicle identification information or deduct the payment amount from the ETC corresponding to the vehicle identification information.
  • the payment terminal 16 determines that the vehicle controller 12 pays the payment amount, and specifically includes: after the payment terminal 16 successfully credits the payment amount under the bill or successfully deducts the payment amount from the ETC, It is determined that the vehicle controller 12 pays the payment amount.
  • the vehicle controller 12 interacts with the payment terminal 16 corresponding to the payment location to complete the automatic payment.
  • the vehicle controller 12 can be implemented by any one of the following methods (method G1 to mode G4):
  • the mode G1 and the vehicle controller 12 automatically pay the payment amount when receiving the payment amount sent by the payment terminal 16, and control the vehicle to start and leave the payment position when receiving the departure instruction information sent by the payment terminal 16.
  • the payment terminal 16 acquires the vehicle identification information of the vehicle, and acquires the weighing result and the driving mileage corresponding to the vehicle identification information; calculates the payment amount according to the weighing result and the driving mileage, and sends the payment amount to the payment amount.
  • the vehicle controller 12 And, the payment amount paid by the vehicle controller 12 is charged, and the departure instruction information is sent to the vehicle controller 12.
  • the vehicle controller 12 transmits the vehicle identification information to the payment terminal 16, automatically pays the payment amount when receiving the payment amount transmitted by the payment terminal 16, and controls when the departure instruction information transmitted by the payment terminal 16 is received.
  • the vehicle starts and leaves the payment location.
  • the payment terminal 16 acquires the weighing result and the mileage corresponding to the vehicle identification information; calculates the payment amount according to the weighing result and the mileage, and transmits the payment amount to the vehicle controller 12; The payment amount paid by the vehicle controller 12 is sent to the vehicle controller 12 for departure instruction information.
  • the vehicle controller 12 automatically pays the payment amount when receiving the payment amount sent by the payment terminal, and specifically includes: the vehicle controller 12 controls the vehicle when receiving the payment amount sent by the payment terminal 16.
  • the camera scans the two-dimensional code corresponding to the payment terminal 16 and calls a third-party payment software to pay the payment amount.
  • the payment terminal 16 collects the payment amount paid by the vehicle controller 12, and specifically includes: collecting the payment amount by using a third-party payment software.
  • the vehicle controller 12 controls the vehicle to start driving away from the payment position when receiving the departure instruction information sent by the payment terminal 16.
  • the payment terminal 16 acquires the vehicle identification information of the vehicle, and acquires the weighing result and the driving mileage corresponding to the vehicle identification information; calculates the payment amount according to the weighing result and the driving mileage, and records the payment amount.
  • the bill is deducted from the bill corresponding to the vehicle identification information or from the ETC corresponding to the vehicle identification information, and the departure instruction information is transmitted to the vehicle controller 12.
  • the vehicle controller 12 transmits the vehicle identification information to the payment terminal 16, and the vehicle controller 12 controls the vehicle to start driving away from the payment position upon receiving the departure instruction information transmitted by the payment terminal 16.
  • the payment terminal 16 acquires the weighing result and the mileage corresponding to the vehicle identification information; calculates a payment amount according to the weighing result and the mileage, and bills the payment amount in correspondence with the vehicle identification information. The payment amount is deducted under the bill or from the ETC corresponding to the vehicle identification information, and the departure instruction information is transmitted to the vehicle controller 12.
  • the payment terminal 16 calculates the payment amount
  • the payment amount is directly recorded in the billing manner under the bill of the payer, and the payment terminal 16 is periodically (for example, every month, every quarter,
  • the bill is sent to the payer every six months or every year, and the payer pays the corresponding fee, which may be the driver of the vehicle, the transportation company to which the vehicle belongs, and the like.
  • the payment terminal 16 pre-stores the association relationship between the vehicle identification information of each vehicle and the ETC, and when the vehicle passes the payment terminal 16, the payment terminal 16 deducts this time from the ETC corresponding to the vehicle identification information of the vehicle. The amount of the payment.
  • the payment terminal 16 calculates the payment amount according to the weighing result and the mileage. Specifically, the payment terminal 16 pre-stores a road charging standard, and the road charging standard records that each road is different type. The fee to be charged for 1 km of different weight vehicles; the payment terminal 16 according to the obtained weighing result, the car The type of vehicle and the road to be driven, calculate the fee that the vehicle needs to pay for driving 1 kilometer, and calculate the product of the payment of 1 kilometer and the mileage (in kilometers) to obtain the payment amount that the vehicle needs to pay.
  • the payment terminal 16 acquires the vehicle identification information of the vehicle, which may be implemented by, but not limited to, any one of the following modes (method H1 and mode H2):
  • the mode H1 the payment terminal 16 identifies the vehicle identification information of the vehicle.
  • the mode H2 the payment terminal 16 receives the vehicle identification information of the vehicle from the vehicle controller 12.
  • the vehicle controller 12 and the payment terminal 16 can communicate through a communication method such as a base station, WIFI, Bluetooth, etc., which is not strictly limited.
  • the mode H1 can be specifically implemented by, but not limited to, the following modes: H11 or H12:
  • the payment terminal 16 controls the sensor to capture the vehicle, and performs image recognition processing on the captured image to obtain vehicle identification information of the vehicle.
  • the sensor may be a camera that can be installed near a payment location, with the lens facing the payment location, such as a fixture placed next to the payment location.
  • the angle of the camera's lens can be adjusted automatically.
  • the payment terminal 16 can perform image processing on the image according to the image returned by the camera. If the vehicle identification information is recognized from the image, the vehicle identification information is verified; if the vehicle identification information is not recognized from the image, the adjustment is automatically adjusted. The shooting angle of the camera repeats the aforementioned actions until the vehicle identification information is recognized.
  • the payment terminal 16 identifies the vehicle identification information from the image, which can be specifically realized by the payment terminal 16 extracting features from the image, and comparing the extracted features with the features corresponding to the preset vehicle identification information, according to the comparison. Successful features determine vehicle identification information.
  • the foregoing vehicle identification information is information uniquely associated with the vehicle, and may be, for example, a license plate number.
  • the features corresponding to the vehicle identification information include size, shape (rectangular frame), color (blue or black), character features (length of the character string in the rectangular frame), and the like.
  • the payment terminal 16 controls the sensor to scan the two-dimensional code or barcode on the vehicle to obtain the vehicle identification information of the vehicle.
  • a two-dimensional code or a barcode including vehicle identification information may be attached or printed in advance at a specific position of the vehicle, such as a front windshield or a left side panel of the vehicle.
  • the payment terminal adjusts the shooting angle of the camera until the two-dimensional code or barcode is successfully scanned.
  • the vehicle controller 12 interacts with the loading and unloading control device to complete the automatic loading and unloading at the loading and unloading position, and specifically includes: the loading and unloading control device 14 acquires vehicle identification information of the vehicle, and The identification information is verified, and the loading and unloading machine is controlled to perform loading and unloading when the verification is passed; after the loading and unloading is completed, the loading and unloading completion instruction is sent to the vehicle controller 12; when the vehicle controller 12 receives the loading and unloading completion instruction, Controlling the vehicle to leave the loading and unloading position.
  • the loading and unloading control device 14 acquires the vehicle identification information of the vehicle by, but not limited to, any one of the following modes (method I1 to mode I3):
  • the mode I1 the loading and unloading control device 14 receives the vehicle identification information from the vehicle controller 12, that is, the vehicle controller 12 actively transmits the vehicle identification information to the loading and unloading control device 14;
  • the loading and unloading control device 14 controls the sensor to capture the vehicle, performs image recognition processing on the captured image, and obtains vehicle identification information of the vehicle.
  • the sensor may be a camera, which can be installed near the loading and unloading control device or the loading and unloading position, for example, can be installed on a fixture near the loading and unloading position (such as a street lamp, a roadside, a tree, a warehouse door, a gantry crane). On and so on).
  • a fixture near the loading and unloading position such as a street lamp, a roadside, a tree, a warehouse door, a gantry crane. On and so on).
  • the angle of the camera's lens can be adjusted automatically.
  • the loading and unloading control device 14 can perform image processing on the image according to the image returned by the camera. If the vehicle identification information is recognized from the image, the vehicle identification information is verified; if the vehicle identification information is not recognized from the image The shooting angle of the camera is automatically adjusted to repeat the aforementioned actions until the vehicle identification information is recognized.
  • the loading and unloading control device 14 recognizes the vehicle identification information from the image, and can be specifically realized by the loading and unloading control device 14 extracting features from the image and comparing the extracted features with the features corresponding to the preset vehicle identification information.
  • the vehicle identification information is determined according to the characteristics of the comparison success.
  • the foregoing vehicle identification information is information uniquely associated with the vehicle, and may be, for example, a license plate number and a vehicle identification code (the vehicle identification code may be an identity information assigned by the operating system to the vehicle).
  • the features corresponding to the vehicle identification information include size, shape (rectangular frame), color (blue or black), character features (length of the character string in the rectangular frame), and the like.
  • loading and unloading control device 14 controls the sensor to scan a two-dimensional code or barcode on the vehicle to obtain vehicle identification information of the vehicle.
  • a two-dimensional code or a barcode including vehicle identification information may be attached or printed in advance at a specific position of the vehicle, such as a front windshield or a left side panel of the vehicle.
  • the loading and unloading control device adjusts the shooting angle of the camera until the two-dimensional code or barcode is successfully scanned.
  • the loading and unloading control device 14 verifies the vehicle identification information, which can be realized by the following: the loading and unloading control device 14 pre-stores a vehicle identification information list, and the loading and unloading control device 14 identifies the vehicle. The information is matched with the list of vehicle identification information, and if the matching is successful, the verification passes, otherwise the verification fails; or the loading and unloading control device 14 remotely reports the vehicle identification information to the server, and receives a verification result from the server whether the verification passes. fruit.
  • the loading and unloading machine when the vehicle is a container truck, the loading and unloading machine is a gantry crane, a forklift or a crane, and the loading and unloading control device 14 controls the loading and unloading machine to carry out loading and unloading.
  • the specific implementation can be as follows: the loading and unloading control device 14 Controlling the loading and unloading machine to load a container corresponding to the vehicle identification information onto the vehicle; or controlling the loading and unloading machine to unload a container on the vehicle.
  • a cargo list may be stored in the loading and unloading control device 14 in advance, and a correspondence relationship between the vehicle identification information of each vehicle and the shipping information is included in the shipping list, wherein the shipping information includes the container number, the location of the container, and the loading and unloading Location and so on.
  • the loading and unloading control device 14 acquires the container number, the container position, and the loading and unloading position corresponding to the vehicle identification information from the shipping list, and sends the carrying container number, container position, and loading to the loading and unloading machine.
  • a loading instruction of the unloading position to load and unload the robot to the container position, and load the container corresponding to the container number to the vehicle stopped at the loading and unloading position.
  • the loading and unloading control device 14 acquires the container number, the container position, and the loading and unloading position corresponding to the vehicle identification information from the shipping list, and sends the carrying container number, container position, and loading and unloading goods to the loading and unloading machine.
  • the unloading order of the position is such that the loading and unloading robot unloads and places the container on the vehicle in the loading and unloading position at the container position.
  • the loading and unloading machine is a robot or a forklift
  • the vehicle is a van
  • the compartment door of the vehicle is electrically controllable to open and close
  • the lower end of the compartment is provided with a lifting platform
  • the loading and unloading position is in front of the warehouse door of the target warehouse
  • the warehouse door has a warehouse.
  • the vehicle controller 12 is further configured to: control the vehicle to stop automatically opening after the loading and unloading position, and control the lifting platform to fall to the warehouse; and, when receiving the loading and unloading completion instruction, control the compartment door Automatically close and control the lift to close.
  • the loading and unloading control device 14 is further configured to control the automatic opening of the door when the verification is passed, and to control the closing of the door when the loading and unloading of the loading and unloading machine is completed.
  • the warehouse, the lifting platform and the car floor are provided with magnetic nails or magnetic strips
  • the loading and unloading control device 14 controls the loading and unloading machine for loading and unloading, and specifically includes: loading and unloading control device 14 controlling the loading and unloading machine
  • the magnetic signals generated by the magnetic navigation sensor uninterrupted sensing library, the lifting platform and the magnetic nail/magnetic strip laid on the floor of the car are guided and tracked according to a preset fixed route to realize loading and unloading.
  • a cargo list may be stored in advance in the loading and unloading control device 14, and a correspondence relationship between the vehicle identification information of each vehicle and the shipping information is described in the shipping list, wherein the shipping information includes the cargo number , the location of the goods, the location of loading and unloading, etc.
  • the loading and unloading control device 14 acquires the cargo number corresponding to the vehicle identification information, the location of the cargo, the loading and unloading location from the shipping list, and sends the carrying cargo number and the cargo to the loading and unloading machine.
  • the loading and unloading control device 14 acquires the cargo number corresponding to the vehicle identification information, the location of the cargo, the loading and unloading location from the shipping list, and sends the carrying cargo number to the loading and unloading machine.
  • Location, loading and unloading location The unloading instruction is such that the loading and unloading robot unloads and places the goods on the vehicle at the loading and unloading location at the location of the cargo.
  • the structure of the car door can be various, and the corresponding automatic opening manners of the car doors of different structures are different.
  • the following structures 1 to 4 are only examples, and the structure of the car door in the embodiment of the present invention It is not limited to the following four structures.
  • the compartment door includes an upper door and a lower door which are opened and closed up and down, and the lower door is an elevation table having an automatic lifting function.
  • the vehicle controller controls the compartment door to automatically open, as follows: The vehicle controller controls the upper door to open upward and controls the lower door to open downward and land on the platform.
  • the compartment door includes a lifting platform having an automatic lifting function, which is a cabin door when the lifting platform is retracted.
  • the vehicle controller controls the compartment door to automatically open, as follows: The vehicle controller controls the elevator to open downward and land on the platform.
  • the compartment door includes a roller door and a lifting platform having a lifting function.
  • the vehicle controller controls the car door to open automatically, as follows: The vehicle controller controls the elevator to open downward and land on the platform, and then controls the roller door to roll up to the top.
  • the compartment door includes left and right side left and right door doors and a lifting platform having a lifting function.
  • the vehicle controller controls the car door to automatically open, as follows: The vehicle controller controls the elevator to open downward and land on the platform, and then control the left and right doors to open outward.
  • left and right doors in the aforementioned structure 4 may also be provided as electric retractable doors that are telescopic to the left and right.
  • the structure of the compartment door is also to include the compartment door and the cargo panel.
  • the compartment door may be composed of an upper door and a lower door that open and close up and down, or may be a left and right door that are left and right.
  • the pallet can be pushed and pulled on the car floor or the vehicle chassis through the slide rails, similar to the drawer structure.
  • the loading and unloading control device 14 includes a road test base station, which is installed near the loading and unloading position, in order to accurately control the vehicle to automatically drive to the loading and unloading position.
  • a road test base station which is installed near the loading and unloading position, in order to accurately control the vehicle to automatically drive to the loading and unloading position.
  • the vehicle for example, on the side of the road, on the street light, on the Kumen, on the gantry crane, etc.
  • the vehicle controller 12 controls the vehicle to automatically drive to the loading and unloading position, which can be specifically, but not limited to, any one of the following modes (method J1 to J2):
  • the vehicle controller 12 receives environmental information and a location of the road test base station from the drive test base station, and an onboard sensor of the vehicle (such as a positioning sensor, such as a GPS, an IMU (Inertial Measurement Unit), etc. Receiving the location of the vehicle; the vehicle controller 12 controls the vehicle to travel according to the location of the vehicle, the location of the road test base station, and the environmental information, and stops at the loading and unloading position according to the preset posture.
  • an onboard sensor of the vehicle such as a positioning sensor, such as a GPS, an IMU (Inertial Measurement Unit), etc.
  • the vehicle controller 12 controls the onboard sensor to send the location of the vehicle to the road test base station, and according to the driving guidance information sent by the road test base station (for example, turning leftward, turning rightward, backwards* * meter, etc.) control vehicle driving And stopping at the loading and unloading position according to a preset posture, wherein the driving guidance information is a driving control instruction generated by the road test base station according to the location of the vehicle and the location of the road test base station.
  • the driving guidance information is a driving control instruction generated by the road test base station according to the location of the vehicle and the location of the road test base station.
  • the drive test base station acquires a vehicle kinematics model through the vehicle controller 12, and calculates an optimal trajectory of the vehicle from the current position to the designated position according to the vehicle kinematics model and the current position of the vehicle and the current posture of the vehicle; Calculating the steering angle and speed of the vehicle according to the optimal trajectory, the current attitude of the vehicle, the current position of the vehicle, and the kinematics model of the vehicle, and transmitting the steering angle and speed to the vehicle controller, so that the vehicle controller 12 according to the steering angle and speed Control the vehicle to drive and stop at the loading and unloading position.
  • the preset posture is related to the position of the vehicle compartment door.
  • the preset posture is the vehicle buttock facing the garage door; when the compartment door is set in the vehicle On the side, the preset posture is that the side of the vehicle is facing the door.
  • the road port in the third embodiment increases the fuel replenishing position compared with the road port in the first embodiment and the second embodiment.
  • the fuel replenishing station is provided with a fuel replenishing terminal 17, and the vehicle controller 12 controls the vehicle to stop at the fuel replenishing.
  • the position and interaction with the fuel replenishing terminal 17 completes the automatic refueling.
  • the fuel replenishment position is increased on the basis of the road port shown in FIG.
  • the fuel replenishment position is increased in the road port shown in FIG.
  • the vehicle controller 12 is further configured to: after completing the automatic loading and unloading, the vehicle controller 12 controls the vehicle to travel from the automatic loading and unloading position to the weighing position, and interacts with the weighing sensor corresponding to the weighing position to complete the automatic operation.
  • the vehicle controller 12 controls the vehicle to travel from the weighing position to the fuel replenishing position, and interacts with the fuel replenishing terminal 17 corresponding to the fuel replenishing position to complete the automatic refueling.
  • only one weighing position may be set in the highway port, or multiple weighing positions may be set.
  • a weighing position and a payment position can be provided at the entrance position, and a weighing position and a payment position are provided at the exit position.
  • the vehicle controller 12 interacts with the fuel replenishing terminal 17 corresponding to the fuel replenishing position to complete the automatic refueling.
  • the specific implementation may be as follows: the vehicle controller 12 sends a supplemental instruction to the fuel replenishing terminal 17 to carry the fuel amount; and, upon receiving Controlling the vehicle to start and exit the fuel replenishing position when the fuel replenishment completion instruction sent by the fuel replenishing terminal 17; the fuel replenishing terminal 17 automatically replenishes the fuel tank of the vehicle with the fuel amount of the corresponding fuel amount according to the supplementary instruction; After determining that the vehicle controller 12 pays the fuel fee, the vehicle controller 12 transmits a fuel supplement completion instruction.
  • the vehicle controller 12 is further configured to calculate a quantity of fuel that needs to be replenished based on a weight of the vehicle and a fuel replenishment strategy in the transportation plan; the supplemental command carries the amount of fuel.
  • the fuel replenishing terminal 17 is further configured to acquire vehicle identification information of the vehicle, and acquire a weight and a fuel replenishment strategy corresponding to the vehicle identification information, according to the weight and fuel in the transportation plan
  • the supplemental strategy calculates the amount of fuel that needs to be replenished.
  • the fuel replenishment strategy may be the amount of fuel consumed by the vehicle at different weight levels for a hundred kilometers (followed by the amount of fuel per 100 kilometers). Then, the vehicle controller 12/fuel replenishing terminal 17 calculates the amount of fuel that needs to be replenished, specifically: acquiring the fuel quantity of 100 kilometers corresponding to the weight level of the weight of the vehicle, according to the amount of fuel per 100 kilometers and the mileage in the vehicle transportation plan ( That is, the travel distance between the start point and the end point) determines the required total fuel amount; acquires the remaining fuel amount in the fuel tank of the vehicle; and determines the difference between the required total fuel amount and the remaining fuel amount as the amount of fuel to be replenished. Alternatively, it is also possible to directly determine the total amount of fuel required as the amount of fuel that needs to be replenished.
  • the fuel replenishment strategy may be a calculation formula of the amount of fuel that needs to be replenished, and the vehicle controller 12/fuel replenishing terminal 17 calculates the amount of fuel that needs to be replenished, specifically: acquiring parameters in the calculation formula (including, for example, including The weight of the vehicle, the mileage and any one or more of the following: the coefficient of friction of the ground, the wind resistance, and the amount of fuel consumed by other parts of the vehicle.
  • the amount of fuel to be replenished is calculated according to the value of each parameter.
  • the fuel replenishing terminal 17 is further configured to calculate a fuel fee corresponding to the fuel amount and transmit the fuel fee to the vehicle controller 12, the fuel replenishing terminal 17 successfully charging the vehicle controller
  • the fuel fee paid is determined to be that the vehicle controller pays the fuel fee.
  • the vehicle controller 12 is further configured to automatically pay the fuel fee upon receipt of the fuel fee.
  • the vehicle controller 12 automatically pays the fuel fee when receiving the fuel fee, and specifically includes: the vehicle controller 12 swipes the fuel refill card to the swipe position of the fuel replenishing terminal; or the vehicle controller 12 controls the in-vehicle camera to scan the fuel replenishing terminal. Corresponding QR code and calling the third party payment software to pay the fuel fee.
  • the fuel replenishing terminal 17 is further configured to: calculate a fuel fee corresponding to the fuel amount, and bill the fuel bill under a bill corresponding to the vehicle identification information, or identify from the vehicle Determining the fuel charge on the ETC or fuel refill card corresponding to the information; the fuel replenishing terminal 17 determines that the vehicle controller 12 pays the bill when the fuel bill is successfully billed or successfully deducted from the corresponding ETC/fuel recharge card. Fuel costs.
  • the vehicle controller 12 interacts with the fuel replenishing terminal 17 corresponding to the fuel replenishing position to complete the automatic refueling by, but not limited to, any of the following modes (methods K1 to K4):
  • the vehicle controller 12 calculates the amount of fuel to be replenished according to the weight of the vehicle and the fuel replenishment strategy in the transportation plan, and sends a supplementary instruction of the amount of fuel to the replenishing terminal 17; and automatically receives the fuel fee The fuel fee is paid; the vehicle is started to start and exits the fuel replenishing position upon receiving the fuel replenishment completion instruction sent by the fuel replenishing terminal 17.
  • the fuel replenishing terminal 17 automatically replenishes the fuel tank of the vehicle with the fuel amount of the corresponding fuel amount according to the supplementary instruction, and transmits the fuel fee to the vehicle controller 12; and receives the vehicle controller 12 to pay The fuel fee is sent to the vehicle controller 12 for a fuel supplement completion indication.
  • the vehicle controller 12 transmits a supplementary instruction for carrying the weight of the vehicle to the fuel replenishing terminal 17, and automatically pays the fuel fee when the fuel fee is received; and controls the vehicle when receiving the fuel replenishment completion instruction sent by the fuel replenishing terminal 17. Start and leave the fuel replenishment position.
  • the fuel replenishing terminal 17 calculates the amount of fuel to be replenished according to the vehicle weight in the supplementary instruction and the preset fuel replenishment strategy, and automatically replenishes the fuel tank of the vehicle with the fuel of the corresponding fuel amount, and adds the fuel fee. And transmitting to the vehicle controller 12; and charging the fuel fee paid by the vehicle controller 12 to send a fuel supplement completion instruction to the vehicle controller 12.
  • the manner in which the vehicle controller 12 automatically pays the fuel fee when receiving the fuel fee and the fuel supplement terminal 17 collects the fuel fee can be realized by, but not limited to, the following modes (mode L1 to mode L2):
  • the vehicle controller 12 when receiving the fuel fee, places the fuel refill card at the swipe position of the fuel replenishing terminal 17 for swiping; the fuel replenishing terminal 17 reads the fuel refill card and deducts the fuel fee therefrom.
  • a robot arm can be disposed in the cockpit of the vehicle, and the fuel refill card can be prevented from being swiped at the swipe position of the fuel replenishing terminal by the robot arm from the position where the fuel recharge card is stored.
  • the vehicle controller 12 controls the in-vehicle camera to scan the two-dimensional code corresponding to the fuel replenishing terminal 17 when the fuel fee is received, and calls the third-party payment software to pay the fuel fee; the fuel replenishing terminal 17 passes the third-party payment software. The fuel fee is charged.
  • Mode K3 The vehicle controller 12 calculates a fuel amount to be replenished according to the weight of the vehicle and a fuel replenishment strategy in the transportation plan, and sends a supplemental instruction of the amount of fuel to the fuel replenishing terminal; and, after receiving the fuel replenishing terminal, The fuel replenishment completion indication controls the vehicle to start and exit the fuel replenishment position.
  • the fuel replenishing terminal 17 automatically replenishes the fuel tank of the vehicle with the fuel of the corresponding fuel amount according to the supplementary instruction, and bills the fuel bill under the bill corresponding to the vehicle identification information or identifies from the vehicle The payment amount is deducted from the ETC or fuel refill card corresponding to the information, and a fuel replenishment completion instruction is sent to the vehicle controller 12.
  • the vehicle controller 12 transmits a supplemental command carrying the weight of the vehicle to the fuel replenishing terminal 17, and controls the vehicle to start and leave the fuel replenishing position upon receiving the fuel replenishment completion instruction sent by the fuel replenishing terminal.
  • the fuel replenishing terminal 17 calculates the amount of fuel to be replenished according to the vehicle weight in the supplementary instruction and the preset fuel replenishment strategy, automatically replenishes the fuel tank of the vehicle with the fuel of the corresponding fuel amount, and records the fuel fee.
  • the bill is deducted from the bill corresponding to the vehicle identification information or from the ETC or fuel refill card corresponding to the vehicle identification information, and the fuel replenishment completion instruction is transmitted to the vehicle controller 12.
  • the fuel replenishing terminal 17 stores in advance the association relationship between the vehicle identification information of each vehicle and the corresponding bill/ETC.
  • the fuel replenishing terminal 17 pre-stores the association relationship between the vehicle identification information and the payer, and the fuel replenishing terminal 17 periodically (for example, every month, every quarter, every six months, or every year) sends the corresponding payer.
  • the bill corresponding to the vehicle identification information is to pay a corresponding fee.
  • the vehicle controller 12 actively transmits the vehicle identification information to the fuel replenishing terminal 17, Alternatively, the vehicle identification information of the vehicle is identified by the fuel replenishing terminal 17.
  • the manner of the identification refer to the manner in which the road card controller 13 identifies the vehicle identification information, and details are not described herein.
  • the fuel may include the following types: combustible preparations (such as gasoline, diesel, ethanol, etc.), combustible gases (biogas, natural gas, etc.), fuel cells, etc., which are not strictly limited.
  • combustible preparations such as gasoline, diesel, ethanol, etc.
  • combustible gases biogas, natural gas, etc.
  • fuel cells etc., which are not strictly limited.
  • the road port provided in the fourth embodiment increases the inspection position compared with the road port provided in the first embodiment, the second embodiment, and the third embodiment.
  • the inspection device 18 is provided at the inspection position, and the vehicle controller 12 controls the vehicle to stop at the inspection position. And interacting with the service device 18 to complete the automatic maintenance.
  • an inspection position is further provided in the aforementioned FIG. 12; or as shown in FIG. 15, an inspection position is further provided in the aforementioned FIG.
  • the vehicle controller 12 is further configured to: acquire vehicle self-test data; determine, when the vehicle is faulty, according to the vehicle self-test data, control the vehicle to automatically drive and stop at the inspection position; and perform an inspection device corresponding to the inspection position The interaction completes the automatic maintenance.
  • the vehicle controller 12 obtains the vehicle self-test data, which may be specifically, but not limited to, any one of the following modes (method M1 to mode M2):
  • Vehicle controller 12 acquires monitoring data from the vehicle self-checking system.
  • the vehicle controller 12 periodically sends a monitoring data acquisition request to the vehicle self-test system to acquire monitoring data from the vehicle self-checking system.
  • vehicle controller 12 receives monitoring data from a vehicle self-test system.
  • the vehicle self-test system periodically sends monitoring data to the vehicle controller.
  • the monitoring data includes self-test data of each component in the vehicle, such as tire pressure abnormality alarm information, TCU (Transmission Control Unit) abnormal alarm information, voltage abnormal alarm information, ABS (anti- Locking brake system) abnormal alarm information, brake abnormal alarm information, airbag abnormal alarm information, etc.
  • tire pressure abnormality alarm information such as tire pressure abnormality alarm information, TCU (Transmission Control Unit) abnormal alarm information, voltage abnormal alarm information, ABS (anti- Locking brake system) abnormal alarm information, brake abnormal alarm information, airbag abnormal alarm information, etc.
  • the monitoring data includes the alarm information of the component, it is confirmed that the corresponding component is faulty.
  • the vehicle controller 12 interacts with the service device 18 corresponding to the inspection position to complete the automatic maintenance. Specifically, the vehicle controller 12 sends the vehicle diagnosis information to the service device 18; the maintenance device 18 determines the corresponding information according to the vehicle diagnosis information. A repair suggestion is sent to the vehicle controller 12.
  • the vehicle controller 12 acquires vehicle diagnosis information from an OBD (On-Board Diagnostic) via a CAN (Controller Area Network) bus, and transmits the vehicle diagnosis information to the vehicle.
  • OBD On-Board Diagnostic
  • CAN Controller Area Network
  • the repairing device 18 determines that the corresponding maintenance suggestion is based on the vehicle diagnostic information, but is not limited to any one of the following modes (method N1 to mode N3):
  • the mode N1 and the inspection device 18 acquire corresponding maintenance suggestions from the correspondence relationship between the pre-stored vehicle diagnosis information and the maintenance suggestion based on the vehicle diagnosis information.
  • the mode N2 and the repairing device 18 remotely report the vehicle diagnosis information to the server, and receive the maintenance suggestion corresponding to the vehicle diagnosis information from the server.
  • the maintenance device 18 displays a proposal request including the vehicle diagnosis information on the maintenance interface, and generates a maintenance suggestion corresponding to the vehicle diagnosis information according to the content that the maintenance personnel replies to the suggestion request in the maintenance interface.
  • the vehicle controller 12 controls the driving of the vehicle and stops at the inspection position, and specifically includes: the vehicle controller 12 plans the map from the current position to the selected inspection position by using map software or navigation software installed in the vehicle controller. a travel route; the vehicle controller 12 controls the vehicle to drive along the travel route and stop at the service position.
  • the selected service device may be an inspection position that is closest to the current position of the vehicle.
  • the vehicle identification information may be actively transmitted to the maintenance device 18 by the vehicle controller 12, or the maintenance device 18 may actively identify the vehicle identification information of the vehicle.
  • the service device 18 identifies the vehicle identification information, refer to the manner in which the road card controller 13 recognizes the vehicle identification information, and details are not described herein.
  • the maintenance suggestion may include but is not limited to one or more of the following: no need to repair the vehicle, repair the vehicle in the target road port, call the rescue, need to go to the repair shop / 4S shop for minor repair, need to go to the repair shop / 4S shop Carry out overhaul and so on.
  • the vehicle controller 12 queries the nearest repair shop or 4S shop from the target road port through the electronic map, and controls the vehicle to travel from the inspection position to the target road port exit. Location and control of the vehicle driving from the exit location to the nearest repair shop or 4S shop.
  • the vehicle controller 12 can further control the vehicle to automatically drive from the loading and unloading position to the exit position of the target road port and drive away from the target road port.
  • the vehicle controller 12 controlling the automatic driving of the vehicle from the loading and unloading position to the target road port may specifically include: controlling the vehicle to automatically drive from the loading and unloading position to the weighing position for automatic weighing, and controlling the vehicle to automatically drive from the weighing position. Automatic payment to the payment location and control of the vehicle from the payment location to the exit location.
  • the operation system 11 acquires the transportation plan execution progress of the vehicle executing the transportation plan, and specifically includes: receiving, from the terminal device of the target road port in the transportation plan, task execution information of the vehicle executing the transportation plan, and according to The task execution information generates a transportation plan execution progress; wherein the transportation plan execution progress is obtained by the control unit marking the completed task and the unfinished task in the transportation task list according to the task execution information.
  • a corresponding one of the highway port control systems 19 is set in advance for each highway port, or a corresponding road is set in advance for each highway port.
  • the port control system 19 manages all terminal devices within the road port under its jurisdiction by the highway port control system 19.
  • the operation system 11 manages the respective road port control systems 19. At this time, the operation system 11 acquires the transportation plan execution progress of the vehicle executing the transportation plan, specifically: generating a transportation task list according to the transportation plan of the vehicle, and transmitting the transportation task list to the transportation plan in association with the vehicle identification information of the vehicle.
  • a highway port control system 19 corresponding to the target highway port; and receiving, from the target road port control system 19, a transportation plan execution progress of the vehicle; wherein the transportation plan execution progress is the road port control system 19 according to the target road
  • the task execution information sent by the terminal device inside the port is obtained after marking the completed task and the unfinished task in the transport task list.
  • the terminal equipment included in the highway port includes one or more of the following: a road card controller, a ground scale sensor, a payment terminal, a loading and unloading control device, a fuel replenishing terminal, and an inspection device.
  • the task execution information sent by the road card controller is whether the vehicle has passed the card;
  • the task execution information sent by the ground scale sensor is whether the vehicle has been weighed;
  • the task execution information sent by the payment terminal is Whether the vehicle has paid the fee;
  • the task execution information sent by the loading and unloading control device is whether the vehicle has been loaded or unloaded;
  • the transportation plan includes: vehicle identification information, transportation task information, and in-port task information, wherein the transportation task information includes a transportation starting point, a starting point departure time, a target road port, loading/unloading instruction information, and a destination road port time.
  • the task information in the port includes the task item and the execution order of the task item, wherein the task item includes any one or more of the following: road card position card, weighing position weighing, payment position payment, loading and unloading position loading/unloading, fuel Replenish the position of the supplementary fuel, overhaul the maintenance position, weigh the position after loading and unloading, and exit the target road port.
  • a shipping list is stored in the operating system, and the shipping list records a large number of shipping tasks, and each shipping task includes a cargo type, a cargo quantity, a cargo storage location, a cargo transportation destination, and a cargo transportation departure time. , the arrival time of the goods to arrive at the destination, etc.
  • the operation system updates the freight list in real time or periodically according to actual conditions, such as adding freight tasks, deleting freight tasks, and modifying freight tasks.
  • the basic information and dynamic information of each transportation vehicle are also stored in the operating system, wherein the basic information includes vehicle identification information of the vehicle, vehicle load, vehicle type (container truck, van, tanker, etc.), type of transportable goods (fresh, flammable objects, animals, general cargo, etc.), dynamic information including vehicle status information (normal, fault, overhaul, etc.), vehicle position information, vehicle operating status (execution of transportation plan, idle status) and many more.
  • the operating system communicates with the vehicle controller of the vehicle, and the dynamic information of the vehicle may be acquired by the operating system from the vehicle controller in real time or periodically, or the dynamic information may be periodically synchronized by the vehicle controller to the operating system.
  • the operation system formulates a transportation plan for the vehicle, including: the operation system determines, according to the basic information and dynamic information of each freight task and the vehicle, the vehicles that are respectively matched by the respective freight tasks; and the vehicle system that matches the freight task according to the freight task A transportation plan that matches the shipping task.
  • a freight mission is: 10 tons of gasoline, stored in warehouse A, need to depart from warehouse A on July 1, 2017, and arrive at highway port B on July 3; the operating system selects normal operations from all vehicles.
  • a tanker that can be loaded with more than 10 tons of gasoline from July 1st to July 3rd as a matching vehicle for the cargo task (if there are multiple tank trucks selected, the distance warehouse A is selected from the plurality of vehicles)
  • a closer vehicle acts as a matching vehicle; the operating system formulates a transportation plan for the matched vehicle based on the transportation task.
  • the roads as shown in FIG. 4 are provided in the road ports shown in FIGS. 2, 3, 7, 12, 13, 14, and 15. It is also possible to set the position of the road card in the road port shown in Figs. 2, 3, 4, 7, 12, 13, 14, and 15 as the turntable shown in Fig. 5A or Fig. 5B. It is also possible to provide a weighing position and a payment position before the exit position in the road port shown in FIGS. 2, 3, 4, 5A, 5B, 7, 12, 13, 14, and 15. . Before the vehicle leaves the highway port, it automatically completes the weighing at the weighing position and completes the automatic payment at the payment position, and then exits the highway port through the exit. I will not repeat them here.
  • the weighing position, the payment position, the inspection position, and the fuel replenishing position in the highway port are merely illustrative, and the application is not strictly limited.
  • the system for realizing automatic transportation provided by the embodiments of the present invention can be applied not only to a highway port but also to a dock, a coastal port (such as Yangshan Port).
  • a fifth embodiment of the present invention provides a vehicle controller.
  • the structure of the vehicle controller is as shown in FIG. 18, and includes:
  • the communication unit 21 is configured to send and receive information
  • the control unit 22 is configured to control, according to the transportation plan received by the communication unit 21, a road card position that is automatically driven by the vehicle to the target road port entrance, and the road card controller corresponding to the road card position interacts to complete the automatic card insertion; And controlling the vehicle to automatically drive from the road card position to a designated loading and unloading position in the target road port, and interacting with the loading and unloading control device at the loading and unloading position to complete the automatic loading and unloading.
  • the communication unit 21 receives the transportation plan from the operating system and forwards the transportation plan to the control unit 22.
  • control unit 22 interacts with the road card controller corresponding to the location of the road card to complete the automatic card. Specifically, the control unit 22 controls the vehicle to start and pass the location of the road card when determining that the road card is released. .
  • control unit 22 determines that the road card is released, and specifically includes: when the control unit 22 receives the permission to pass indication sent by the road card controller through the communication unit 21, determining that the road card is released; or, the control unit 22 detecting whether the road card is released by the on-board sensor, and determining that the road card is released when detecting the release.
  • control unit 22 detects whether the road card is released by the on-board sensor, and specifically includes: when the control unit 22 determines that the road card is in the release state by using an image sent by the on-board sensor or point cloud data, determining that the road card is released. .
  • the control unit 22 can detect whether the front road card is in a release state by using information returned by an on-board sensor (such as a camera, a laser radar, a millimeter wave radar, etc.); for example, when the road card is a road pole, When the road pole is detected to be lifted, the release is determined; when the road card is an electric retractable door or a sliding door, if the electric retractable door/sliding door is detected to move to one side or both sides and the obstacle is detected in front, the release is determined.
  • an on-board sensor such as a camera, a laser radar, a millimeter wave radar, etc.
  • control unit 22 is further configured to: when receiving, by the communication unit 21, the first indication information that is not allowed to pass from the road card controller and instructing the vehicle to leave the road card position from the grooming road, The vehicle starts and leaves the road card position.
  • control unit 22 is further configured to control the vehicle to start and leave the road card position when receiving the second indication information that is not allowed to pass from the road card controller through the communication unit 21.
  • control unit 22 controls the road card position that the vehicle automatically drives to the target road port entrance, and specifically includes: the control unit 22 plans a driving route of the current position to the road card position, and controls the vehicle to automatically drive along the driving route.
  • the control unit 22 controls the vehicle to stop when the front obstacle is a road card and the distance of the road card from the vehicle is less than or equal to a preset distance threshold by the image transmitted by the in-vehicle sensor or the point cloud data.
  • the control unit 22 controls the automatic driving of the vehicle from the road card position to the designated loading and unloading position in the target road port, and specifically includes: controlling the vehicle to automatically drive from the road card position to the weighing position, at the weighing position and The weighing scale sensor corresponding to the weighing position performs automatic weighing to perform automatic weighing; controlling the vehicle to automatically drive from the weighing position to the payment position, and interacting with the payment terminal corresponding to the payment position to complete automatic payment; The vehicle is automatically driven from the payment location to a loading and unloading location.
  • control unit 22 performs automatic weighing by interacting with the scale sensor corresponding to the weighing position at the weighing position, and specifically includes: when the communication unit 21 receives the weighing end information from the ground scale sensor, the vehicle is started and controlled. Drive away from the weighing position.
  • control unit 22 is further configured to: send the vehicle identification information to the ground scale sensor through the communication unit 21.
  • control unit 22 interacts with the payment terminal corresponding to the payment location to complete the automatic payment. Specifically, the control unit 22 controls the vehicle to start and leave the vehicle when the departure instruction information sent by the communication terminal 21 from the payment terminal is controlled. State the location of the payment.
  • control unit 22 is further configured to automatically pay the payment amount when the payment amount sent from the payment terminal by the communication unit 21.
  • control unit 22 automatically pays the payment amount, specifically for:
  • the control unit 22 calls the third party payment software to pay the payment amount; or, the control unit 22 controls the in-vehicle camera to scan the two-dimensional code corresponding to the payment terminal, and calls the third party payment software to pay the payment amount.
  • the control unit 22 interacts with the loading and unloading control device to complete the automatic loading and unloading at the loading and unloading position, and specifically includes:
  • the letter unit 21 controls the vehicle to leave the loading and unloading position when receiving the loading and unloading completion instruction from the loading and unloading control device.
  • the vehicle is a van
  • the compartment door of the vehicle is electrically controllable to open and close
  • the lower end of the compartment is provided with a lifting platform
  • the loading and unloading position is in front of the storage door of the target warehouse
  • the library door has a library.
  • the control unit 22 is further configured to: control the vehicle to stop automatically opening after the loading and unloading position, and control the lifting platform to fall to the warehouse; and, when receiving the loading and unloading completion instruction, control the cabin door automatically Close and control the lift to close.
  • the preset posture is related to the position of the vehicle compartment door.
  • the preset posture is that the vehicle butt is facing the garage door; when the compartment door is arranged on the side of the vehicle, the preset position is The posture is the side of the vehicle facing the door.
  • the loading and unloading control device comprises a road test base station, and the road test base station is installed near the loading and unloading position, for example On the side of the road, on the Kumen, on the gantry, etc.
  • control unit 22 controls the vehicle to automatically drive and stops at the loading and unloading position, and specifically includes: the control unit 22 receives environmental information from the road test base station and the location of the drive test base station, and receives from the onboard sensor of the vehicle. The location of the vehicle; the control unit 22 controls the vehicle to travel according to the location of the vehicle, the location of the road test base station, and the environmental information, and stops at the loading and unloading position according to the preset posture.
  • control unit 22 controls the vehicle to automatically drive and stops at the loading and unloading position, and specifically includes: the control unit 22 controls the onboard sensor to transmit the location of the vehicle to the drive test base station, and according to the travel guide information sent by the drive test base station The vehicle is controlled to travel and is stopped at the loading and unloading position according to a preset posture, wherein the driving guidance information is a driving control instruction generated by the road test base station according to the location of the vehicle and the location of the road test base station.
  • a fuel replenishment station is also installed in the highway port. Since the amount of fuel replenishment has a large relationship with the load of the vehicle, the vehicle needs to be weighed before refueling the vehicle.
  • the control unit 22 is further configured to: after completing the automatic loading and unloading, control the vehicle to travel from the automatic loading and unloading position to the weighing position, and interact with the scale sensor corresponding to the weighing position to complete automatic weighing; control the vehicle The vehicle is driven from the weighing position to the fuel replenishing position, and interacts with the fuel replenishing terminal corresponding to the fuel replenishing position to complete the automatic refueling.
  • the control unit 22 interacts with the fuel replenishing terminal corresponding to the fuel replenishing position to complete the automatic refueling, specifically comprising: transmitting, by the communication unit 21, a supplemental instruction carrying the fuel amount to the fuel replenishing terminal; and receiving at the communication unit 21
  • the fuel replenishment completion indication sent by the fuel replenishing terminal controls the vehicle to start and leave the fuel replenishing position.
  • the control unit 22 is further configured to calculate a quantity of fuel to be replenished according to a weight of the vehicle and a fuel replenishment strategy in the transportation plan, the supplemental instruction carrying the amount of fuel.
  • the control unit 22 is further configured to automatically receive the fuel fee when the communication unit 21 receives the fuel supplement terminal Pay the fuel fee.
  • the control unit 22 automatically pays the fuel fee when receiving the fuel fee, and specifically includes: the control unit 22 swipes the fuel refill card to the swipe position of the fuel replenishing terminal; or the control unit 22 controls the in-vehicle camera to scan the corresponding two of the fuel replenishing terminals. Dimension code, and call the third party payment software to pay the fuel fee.
  • control unit 22 is further configured to: acquire vehicle self-test data, determine, according to the vehicle self-test data, that the vehicle is automatically driven and stops at the inspection position when the vehicle fails; and The inspection device corresponding to the inspection position performs an automatic maintenance on the interaction.
  • the control unit 22 performs an automatic maintenance on the maintenance device corresponding to the inspection position, and specifically includes: the control unit 22 transmits the vehicle diagnosis information to the inspection device through the communication unit 21; and receives the corresponding information from the inspection device through the communication unit 21. Maintenance advice.
  • the maintenance suggestion may include but is not limited to one or more of the following: no need to repair the vehicle, repair in the target highway port, wait for rescue, need to go to the repair shop / 4S shop for minor repair, need to go to the repair shop / 4S shop Carry out overhaul and so on.
  • the control unit 22 queries the nearest repair shop or 4S shop from the target road port through the electronic map, and controls the vehicle to travel from the repair position to the target road port exit position. And control the vehicle to drive from the exit location to the nearest repair shop or 4S point.
  • control unit 22 may actively transmit the vehicle identification information to the maintenance device through the communication unit 21, or may actively identify the vehicle identification information of the vehicle by the maintenance device.
  • control unit 22 is further configured to: after completing the automatic loading and unloading, control the vehicle to automatically drive from the loading and unloading position to the exit position of the target road port, and leave the target road port.
  • An embodiment of the present invention provides an operation system.
  • the structure of the operation system is as shown in FIG. 19, and includes:
  • a vehicle scheduling unit 31 configured to formulate a transportation plan for the vehicle, and transmit the transportation plan to a vehicle controller of the vehicle; and adjust a transportation plan of the vehicle according to a transportation plan execution schedule of the vehicle;
  • the control unit 32 is configured to acquire a transportation plan execution progress of the vehicle executing the transportation plan, and send the transportation plan execution progress to the vehicle scheduling unit 31.
  • all terminal devices within all road ports are directly managed by the operating system, ie, the control unit 32 can directly interact with all terminal devices within each road port.
  • the control unit 32 acquires the transportation plan execution progress of the vehicle executing the transportation plan, and specifically includes: receiving, from the terminal device of the target road port in the transportation plan, task execution information of the vehicle executing the transportation plan, and according to The task execution information generates a transportation plan execution progress; wherein the transportation plan execution progress is obtained after the control unit 32 marks the completed task and the unfinished task in the transportation task list according to the task execution information.
  • a corresponding highway port control system is set in advance for each highway port, or a corresponding highway port control system is set in advance for each highway port, and the highway port control system manages the interior of the highway port under its jurisdiction. All terminal devices.
  • the operational system manages the various highway port control systems, ie the control unit 32 can interact directly with the various highway port control systems.
  • the control unit 32 acquires the transportation plan execution progress of the vehicle executing the transportation plan, specifically: generating a transportation task list according to the transportation plan of the vehicle, and transmitting the transportation task list to the vehicle identification information of the vehicle to the vehicle a road port control system corresponding to the target road port in the transportation plan; and receiving a progress of the transportation plan execution of the vehicle from the target road port control system; wherein the transportation plan execution progress is the road port control system according to the target road port
  • the task execution information sent by the internal terminal device is obtained after marking the completed task and the unfinished task in the transport task list.
  • the terminal equipment included in the highway port includes one or more of the following: a road card controller, a ground scale sensor, a payment terminal, a loading and unloading control device, a fuel replenishing terminal, and an inspection device.
  • the task execution information sent by the road card controller is whether the vehicle has passed the card;
  • the task execution information sent by the ground scale sensor is whether the vehicle has been weighed;
  • the task execution information sent by the payment terminal is Whether the vehicle has paid the fee;
  • the task execution information sent by the loading and unloading control device is whether the vehicle has been loaded or unloaded;
  • the seventh embodiment of the present invention provides a method for realizing automatic transportation of a vehicle.
  • the flowchart of the method is as shown in FIG. 20, and includes:
  • Step 101 The operating system formulates a transportation plan for the vehicle, and sends the transportation plan to a vehicle controller of the vehicle;
  • Step 102 The vehicle controller controls, according to the transportation plan, a location of the road card that is automatically driven by the vehicle to the entrance of the target highway port, and interacts with the road card controller corresponding to the location of the road card to complete the automatic card insertion;
  • Step 103 The vehicle controller controls the vehicle to automatically drive from the road card position to a designated loading and unloading position in the target road port, and interacts with the loading and unloading control device to complete the automatic loading and unloading at the loading and unloading position.
  • the road card controller corresponding to the location of the road card performs an automatic completion of the card, specifically including steps A1 to A2:
  • Step A1 The road card controller acquires vehicle identification information of the vehicle, performs identity verification on the vehicle identification information, and controls the road card release when the verification passes.
  • Step A2 The vehicle controller controls the vehicle to start and pass the road card position when determining that the road card is released.
  • the vehicle controller determines that the road card is released, and specifically includes: the vehicle controller determines that the road card is released when receiving the permission permission indication sent by the road card controller; or, the vehicle controller passes The in-vehicle sensor detects whether the road card is released, and determines that the road card is released when detecting the release.
  • the vehicle controller detects whether the road card is released by the vehicle-mounted sensor, and specifically includes: when the vehicle controller determines, by the image sent by the vehicle-mounted sensor or the point cloud data, that the road card is in a release state, determining that the road card is released. .
  • the road card controller acquires the vehicle identification information of the vehicle, by but not limited to any one of the following ways: the road card controller actively identifies the vehicle identification information of the vehicle; or the road card controller from the A vehicle controller receives vehicle identification information for the vehicle.
  • the road card controller actively identifies the vehicle identification information of the vehicle. For details, refer to the method in the first embodiment, and details are not described herein again.
  • the method further includes: the road card controller is verifying When not passing, transmitting, to the vehicle controller, first indication information that does not allow passage and instructs the vehicle to leave the road card position from the grooming road; when the vehicle controller receives the first indication information, Controlling the vehicle to start and drive away from the road card location.
  • the road card position is set as a rotatable carousel
  • the road card controller can control the carousel along the Rotate counterclockwise or clockwise and stop in both directions, one for the direction of the highway port (for example, facing the road card) and the other for the direction of the highway port (such as the direction of the exit from the highway port) Facing the road card, or driving out of the highway port is facing the direction of the road.
  • the foregoing method further includes: when the verification fails, the road card controller sends the second indication information that is not allowed to pass to the vehicle controller, and rotates the turntable to drive the front end of the vehicle away from the road The direction of the card position; the vehicle controller controls the vehicle to start and leave the road card position upon receiving the second indication information.
  • the vehicle controller controls the road card position that the vehicle automatically drives to the target road port entrance, and specifically includes: the vehicle controller plans the current position to the road card position, and controls the vehicle along the road.
  • the driving route is automatically driven; when the vehicle controller recognizes that the front obstacle is a road card by the image or point cloud data sent by the vehicle sensor, and the distance of the road card from the vehicle is less than or equal to a preset distance threshold, the vehicle is controlled. stop.
  • the vehicle controller can plan the travel route of the current location to the road card location through the vehicle-side map software/navigation software.
  • the distance threshold may be an empirical value, or may be calculated according to the traveling speed, inertia, and the like of the vehicle, that is, the distance threshold is a distance traveled by the vehicle from braking to stopping.
  • step 103 the vehicle is automatically driven from the road card position to the designated loading and unloading position in the target road port, and specifically includes steps 1031 to 1033, as shown in FIG. 21:
  • Step 1031 The vehicle controller controls the vehicle to automatically drive from the road card position to the weighing position, and the ground scale sensor corresponding to the weighing position in the weighing position performs interaction to complete automatic weighing;
  • Step 1032 The vehicle controller controls the vehicle to automatically drive from the weighing position to the payment position, and interacts with the payment terminal corresponding to the payment position at the payment position to complete the automatic payment;
  • Step 1033 The vehicle controller controls the vehicle to automatically drive from the payment position to the loading and unloading position.
  • step 1031 the scale sensor corresponding to the weighing position performs the automatic weighing in the weighing position, and specifically includes steps B1 to B2:
  • Step B1 When the scale sensor senses the vehicle stopped at the weighing position, the vehicle is weighed, and the weighing end information is sent to the vehicle controller;
  • Step B2 When receiving the weighing end information, the vehicle controller controls the vehicle to start and leave the weighing position.
  • the vehicle controller performs automatic weighing by interacting with the scale sensor corresponding to the weighing position at the weighing position, and the specific implementation may be as follows: when the ground scale sensor senses the vehicle stopped at the weighing position, The vehicle is weighed and transmits weighing end information to the vehicle controller; the vehicle controller controls the vehicle to start and leave the weighing position upon receiving the weighing end information.
  • the foregoing method further includes: acquiring a vehicle identification information of the vehicle by the ground scale sensor; and transmitting the weighing result and the vehicle identification information to the payment terminal in association.
  • the ground scale sensor acquires the vehicle identification information of the vehicle, specifically: the ground scale sensor identifies the vehicle identification information of the vehicle; or the ground scale sensor receives the vehicle identification information from the vehicle controller.
  • step 1032 the payment terminal corresponding to the payment location at the payment location performs an automatic payment, which includes steps C1 to C4:
  • Step C1 The payment terminal acquires vehicle identification information of the vehicle
  • Step C2 The payment terminal acquires the weighing result and the driving mileage corresponding to the vehicle identification information, and calculates the payment amount according to the weighing result and the driving mileage;
  • Step C3 After the payment terminal determines that the vehicle controller pays the payment amount, sending the departure indication information to the vehicle controller;
  • Step C4 The vehicle controller controls the vehicle to start and leave the payment position when receiving the departure indication information.
  • the method may further include: the payment terminal transmitting the payment amount to the vehicle controller; the vehicle controller automatically paying the payment amount upon receiving the payment amount.
  • the payment terminal determines that the vehicle controller pays the payment amount, and specifically includes: when the payment terminal successfully collects the payment amount paid by the vehicle controller, determining that the vehicle controller pays the payment amount.
  • the vehicle controller automatically pays the payment amount when receiving the payment amount, specifically: the vehicle controller calls the third party payment software to pay the payment amount; or the vehicle controller controls the vehicle camera to scan the corresponding payment terminal.
  • the QR code and the third party payment software are called to pay the payment amount.
  • the method further includes: the payment terminal further configured to: bill the payment amount under the bill corresponding to the vehicle identification information or deduct the payment from the ETC corresponding to the vehicle identification information Amount.
  • the payment terminal determines that the vehicle controller pays the payment amount, and specifically includes: the payment terminal successfully records the payment amount After the account is successfully credited with the payment amount from the ETC, it is determined that the vehicle controller pays the payment amount.
  • the payment terminal calculates the payment amount according to the weighing result and the mileage.
  • the payment terminal can store the road charging standard in advance, and the road charging standard records that each road is different for different types and weights.
  • the fee charged by the vehicle for driving 1 km; the payment terminal calculates the fee for the vehicle to travel 1 km according to the obtained weighing result, the type of vehicle and the road to be driven, and then calculates the fee and mileage for the 1 km payment (
  • the product in kilometers can be used to obtain the amount of payment that the vehicle is required to pay.
  • step 1033 the loading and unloading position is interacted with the loading and unloading control device to complete the automatic loading and unloading, and specifically includes steps D1 to D2:
  • Step D1 The loading and unloading control device acquires vehicle identification information of the vehicle, and verifies the vehicle identification information, controls the loading and unloading machine to perform loading and unloading when the verification passes, and controls the vehicle after the loading and unloading is completed. Sending a loading and unloading completion instruction;
  • Step D2 The vehicle controller controls the vehicle to leave the loading and unloading position when receiving the loading and unloading completion instruction.
  • the loading and unloading control device can refer to the foregoing manner, and details are not described herein again.
  • the loading and unloading control device performs verification on the vehicle identification information, which can be realized by: storing and unloading the control device with a vehicle identification information list pre-stored, and the loading and unloading control device to the vehicle identification information and the device The vehicle identification information list is matched, and if the matching is successful, the verification is passed, otherwise the verification fails; or the loading and unloading control device remotely reports the vehicle identification information to the server, and receives a verification result of whether the verification is passed from the server.
  • the loading and unloading machine when the vehicle is a container truck, the loading and unloading machine is a gantry crane, a forklift or a crane, and the loading and unloading control device controls the loading and unloading machine to carry out loading and unloading.
  • the specific implementation can be as follows: the loading and unloading control device control station The loading and unloading machine loads a container corresponding to the vehicle identification information onto the vehicle; or controls the loading and unloading machine to unload the container on the vehicle.
  • a cargo list may be stored in advance in the loading and unloading control device, and a correspondence relationship between the vehicle identification information and the shipping information of each vehicle is described in the shipping list, wherein the shipping information includes a container number, a container location, and a loading and unloading position. Wait.
  • the loading and unloading control device acquires the container number, the container position, and the loading and unloading position corresponding to the vehicle identification information from the shipping list, and sends the container number, the container position, and the loading and unloading goods to the loading and unloading machine.
  • the loading and unloading control device acquires the container number, the container position, and the loading and unloading position corresponding to the vehicle identification information from the shipping list, and sends the carrying container number, the container position, and the loading and unloading position to the loading and unloading machine.
  • the unloading instruction is such that the loading and unloading robot unloads and places the container on the vehicle in the loading and unloading position at the container position.
  • the loading and unloading machine is a robot or a forklift
  • the vehicle is a van
  • the compartment door of the vehicle is electrically controllable to open and close
  • the lower end of the compartment is provided with a lifting platform
  • the loading and unloading position is in front of the warehouse door of the target warehouse
  • the warehouse door has a warehouse.
  • the vehicle controller is further configured to: control the vehicle to stop automatically opening after the loading and unloading position, and control the lifting platform to fall to the warehouse; and, when receiving the loading and unloading completion instruction, control the cabin door automatically Close and control the lift to close.
  • the loading and unloading control device is further configured to control the automatic opening of the door when the verification is passed, and to control the closing of the door when the loading and unloading of the loading and unloading machine is completed.
  • the warehouse, the lifting platform and the car floor are provided with magnetic nails or magnetic strips
  • the loading and unloading control device controls the loading and unloading machine for loading and unloading, and specifically includes: loading and unloading control device controls the loading and unloading machine through the same
  • the magnetic navigation sensor uninterruptedly senses the magnetic signals generated by the magnetic chuck/magnetic strips on the platform, the lifting platform and the car floor, and performs navigation tracking according to a preset fixed route to realize loading and unloading.
  • a cargo list may be stored in advance in the loading and unloading control device, and a correspondence relationship between the vehicle identification information of each vehicle and the shipping information is described in the shipping list, wherein the shipping information includes the cargo number, The location of the goods, the location of loading and unloading, etc.
  • the loading and unloading control device acquires the cargo number corresponding to the vehicle identification information, the location of the cargo, the loading and unloading location from the shipping list, and sends the carrying cargo number to the loading and unloading machine.
  • the loading and unloading control device acquires the cargo number corresponding to the vehicle identification information, the location of the cargo, the loading and unloading location from the shipping list, and sends the carrying cargo number and the location of the cargo to the loading and unloading machine. And an unloading instruction at the loading and unloading position, so that the loading and unloading robot unloads and places the goods on the vehicle at the loading and unloading position at the position of the goods.
  • the loading and unloading control device in the embodiment of the present invention further includes a road test base station, and the road test base station is included in the embodiment of the present invention, in order to accurately control the vehicle to automatically drive to the loading and unloading position.
  • Set near loading and unloading such as on the side of the road, on the street light, on the door of the warehouse, on the gantry crane, etc.
  • the vehicle controller controls the vehicle to automatically drive to the loading and unloading position in step 103.
  • the specific implementation includes steps E1 to E2:
  • Step E1 The vehicle controller receives environmental information and a location of the road test base station from the road test base station, and receives a location of the vehicle from an onboard sensor of the vehicle;
  • Step E2 The vehicle controller controls the vehicle to travel according to the location of the vehicle, the location of the road test base station, and the environment information, and stops at the loading and unloading position according to the preset posture.
  • the vehicle controller controls the vehicle to automatically drive to the loading and unloading position in step 103
  • the specific implementation is as follows: the vehicle controller controls the onboard sensor to send the location of the vehicle to the road test base station, and sends the signal according to the road test base station.
  • the driving guidance information controls the driving of the vehicle and stops at the loading and unloading position according to a preset posture, wherein the driving guidance information is a driving control instruction generated by the driving base station according to the location of the vehicle and the location of the driving base station.
  • the road test base station acquires a vehicle kinematics model by using a vehicle controller, and calculates an optimal trajectory of the vehicle from the current position to the designated position according to the vehicle kinematics model and the current position of the vehicle and the current posture of the vehicle; the road test base station according to the optimal trajectory , the current attitude of the vehicle, the current position of the vehicle, and the kinematics model of the vehicle, calculate the steering angle and speed of the vehicle, and transmit the steering angle and speed to the vehicle controller, so that the vehicle controller controls the driving of the vehicle according to the steering angle and speed and stops loading and unloading. Goods location.
  • the preset posture is related to the position of the vehicle compartment door.
  • the preset posture is that the vehicle butt is facing the garage door; when the compartment door is arranged on the side of the vehicle, the preset position is The posture is the side of the vehicle facing the door.
  • the process shown in FIG. 20 and FIG. 21 further includes the following steps 104 to 105.
  • the method flow shown in FIG. 20 further includes steps 104 to 105.
  • step 104 to step 105 are further included, wherein:
  • Step 104 The vehicle controller controls the vehicle to travel from the automatic loading and unloading position to the weighing position, and interacts with the ground scale sensor corresponding to the weighing position to complete automatic weighing;
  • Step 105 Control the vehicle to travel from the weighing position to the fuel replenishing position, and interact with the fuel replenishing terminal corresponding to the fuel replenishing position to complete the automatic refueling.
  • the fuel replenishing terminal corresponding to the fuel replenishing position performs an interaction to complete the automatic refueling, which is specifically implemented as follows: the vehicle controller sends a supplemental instruction carrying the fuel amount to the fuel replenishing terminal; And controlling the vehicle to start and leave the fuel replenishing position upon receiving the fuel replenishment completion instruction sent by the fuel replenishing terminal; the fuel replenishing terminal automatically replenishing the fuel tank of the vehicle with the corresponding fuel amount according to the supplementary instruction Fuel; and, after determining that the vehicle controller pays the fuel fee, transmitting a fuel supplement completion indication to the vehicle controller.
  • step 105 further includes calculating an amount of fuel to be replenished based on a weight of the vehicle and a fuel replenishment strategy in the transportation plan; the supplemental instruction carries the amount of fuel.
  • the fuel replenishing terminal is further configured to acquire vehicle identification information of the vehicle, and acquire a weight and a fuel replenishment strategy corresponding to the vehicle identification information, according to the weight and fuel replenishment in a transportation plan
  • the strategy calculates the amount of fuel that needs to be replenished.
  • step 105 further includes: the fuel replenishing terminal calculating a fuel fee corresponding to the fuel amount, and transmitting the fuel fee to the vehicle controller; the vehicle controller automatically paying the fee when receiving the fuel fee a fuel cost; the fuel replenishing terminal determines that the vehicle controller pays the fuel fee when the fuel fee paid by the vehicle controller is successfully collected.
  • the vehicle controller automatically pays the fuel fee when receiving the fuel fee, and specifically includes: the vehicle controller swipes the fuel refill card to the swipe position of the fuel replenishing terminal; or the vehicle controller controls the in-vehicle camera to scan the fuel replenishment The two-dimensional code corresponding to the terminal, and calling the third party payment software to pay the fuel fee.
  • step 105 further includes: the fuel replenishing terminal calculating a fuel fee corresponding to the fuel amount, and billing the fuel fee under a bill corresponding to the vehicle identification information or from the vehicle identification information The fuel charge is deducted from the corresponding ETC or fuel refill card; the fuel replenishment terminal determines that the vehicle controller pays the fuel fee when the fuel fee is successfully billed or successfully deducted from the corresponding ETC/fuel recharge card.
  • the fuel may include the following types: combustible preparations (such as gasoline, diesel, ethanol, etc.), combustible gases (biogas, natural gas, etc.), fuel cells, etc., which are not strictly limited.
  • combustible preparations such as gasoline, diesel, ethanol, etc.
  • combustible gases biogas, natural gas, etc.
  • fuel cells etc., which are not strictly limited.
  • step 106 may be further included.
  • the process shown in FIG. 23 further includes step 106, wherein:
  • Step 106 The vehicle controller acquires vehicle self-test data, determines, according to the vehicle self-test data, that the vehicle is automatically driven and stops at the inspection position when the vehicle is faulty, and the maintenance device corresponding to the inspection position performs interaction to complete the automatic maintenance.
  • the vehicle controller acquires the vehicle self-test data, which may be, but is not limited to, any one of the following modes: the vehicle controller acquires monitoring data from the vehicle self-checking system; or the vehicle controller receives the vehicle self-checking system. Monitoring data.
  • the monitoring data includes self-test data of various components in the vehicle, such as tire pressure abnormal alarm information, TCU abnormal alarm information, voltage abnormal alarm information, ABS abnormal alarm information, brake abnormal alarm information, and the like.
  • the monitoring data includes the alarm information of the component, it is confirmed that the corresponding component is faulty.
  • the vehicle controller interacts with the inspection device corresponding to the inspection position to complete the automatic maintenance, specifically: the vehicle controller sends the vehicle diagnosis information to the inspection device; the maintenance device determines the corresponding maintenance suggestion according to the vehicle diagnosis information, and The repair suggestion is sent to the vehicle controller.
  • the vehicle controller acquires vehicle diagnosis information from the OBD through the CAN bus, and transmits the vehicle diagnosis information to the inspection device.
  • the repairing device determines, according to the vehicle diagnostic information, that the corresponding maintenance suggestion may specifically pass, but is not limited to, any one of the following manners: the repairing device according to the vehicle diagnostic information, from the pre-stored vehicle diagnostic information and the maintenance suggestion Corresponding relationship, obtaining corresponding maintenance suggestions; or, the maintenance device remotely reports the vehicle diagnosis information to the server, and receives the maintenance suggestion corresponding to the vehicle diagnosis information from the server; or the maintenance device displays the A request for advice of the vehicle diagnostic information, and generating a repair suggestion corresponding to the vehicle diagnostic information according to the content that the maintenance personnel replied to the suggestion request at the maintenance interface.
  • the vehicle controller controls the driving of the vehicle and stops at the inspection position, and specifically includes: the vehicle controller plans a driving route from the current position to the selected inspection position by using map software or navigation software installed in the vehicle controller.
  • the vehicle controller controls the vehicle to drive along the travel route and stop at the service position.
  • the selected service device may be an inspection position that is closest to the current position of the vehicle.
  • the vehicle identification information may be actively sent to the maintenance device by the vehicle controller, or the maintenance device may actively identify the vehicle identification information of the vehicle.
  • the maintenance device recognizes the vehicle identification information
  • the maintenance suggestion may include but is not limited to one or more of the following: no need to repair the vehicle, repair the vehicle in the target road port, call the rescue, need to go to the repair shop / 4S shop for minor repair, need to go to the repair shop / 4S shop Carry out overhaul and so on.
  • the vehicle controller 12 queries the nearest repair shop or 4S shop from the target road port through the electronic map, and controls the vehicle to travel from the inspection position to the target road port exit. Location and control of the vehicle driving from the exit location to the nearest repair shop or 4S shop.
  • the vehicle controller after completing the automatic loading and unloading, the vehicle controller further includes the following steps: the vehicle controller controls the vehicle to automatically drive from the loading and unloading position to the exit position of the target road port, and leaves the target Highway port.
  • the vehicle controller controls the vehicle to automatically drive from the loading and unloading position to the exit location of the target road port, and away from the target road port, specifically including: the vehicle controller is planned from the loading and unloading position to the exiting position Driving route and controlling the vehicle to automatically drive from the loading and unloading position to the exit position along the driving route.
  • the vehicle controller controls the vehicle to automatically drive from the loading and unloading position to the exit position of the target road port, and the driving away from the target road port includes: controlling the vehicle to automatically drive from the loading and unloading position to the weighing position. Automatic weighing, controlling the vehicle to automatically drive from the weighing position to the payment position for automatic payment, and controlling the vehicle to automatically drive from the payment position to the exit position.
  • all terminal devices within all road ports are directly managed by the operating system, ie the operating system can interact directly with all terminal devices within each road port.
  • the operation system acquires the transportation plan execution progress of the vehicle executing the transportation plan, and specifically includes: receiving, from the terminal device of the target road port in the transportation plan, task execution information of the vehicle executing the transportation plan, and according to the The task execution information generates a transportation plan execution progress; wherein the transportation plan execution progress is obtained after the control unit marks the completed task and the unfinished task in the transportation task list according to the task execution information.
  • a corresponding road port control system is set in advance for each road port, or a corresponding road port control system is set in advance for each road port, and the road port control system manages all terminal devices inside the road port under its jurisdiction.
  • the operation system manages various highway port control systems. At this time, the operation system acquires the transportation plan execution progress of the vehicle executing the transportation plan, specifically: generating a transportation task list according to the transportation plan of the vehicle, and transmitting the transportation task list to the transportation plan in association with the vehicle identification information of the vehicle.
  • the task execution information sent by the device marks the completed task in the transport task list And get it after the task is not completed.
  • the terminal equipment included in the highway port includes one or more of the following: a road card controller, a ground scale sensor, a payment terminal, a loading and unloading control device, a fuel replenishing terminal, and an inspection device.
  • the task execution information sent by the road card controller is whether the vehicle has passed the card;
  • the task execution information sent by the ground scale sensor is whether the vehicle has been weighed;
  • the task execution information sent by the payment terminal is Whether the vehicle has paid the fee;
  • the task execution information sent by the loading and unloading control device is whether the vehicle has been loaded or unloaded;
  • the system and method for realizing automatic transportation provided by the embodiments of the present invention, on the one hand, managing and scheduling each vehicle by the operation system, formulating a transportation plan for each vehicle, and synchronizing the transportation plan to the vehicle controller of the corresponding vehicle, without requiring management personnel Vehicle management and scheduling can be realized; on the other hand, the vehicle controller controls the vehicle to execute the transportation plan to complete the automatic transportation of the goods, and the cargo transportation can be realized without the truck driver; on the other hand, the vehicle controller controls the vehicle.
  • Driving there are no problems such as driver fatigue driving, drunk driving, poison driving, etc., to improve driving safety. Therefore, the technical solution of the invention not only reduces the cost of cargo transportation, but also reduces the safety hazard during driving of the vehicle.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种实现车辆自动运输的系统、方法及相关设备。所述系统包括：运营系统（11），用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器（12）；车辆控制器，用于根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器（13）进行交互完成自动过卡；以及控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置（14）进行交互完成自动装卸货。所述系统、方法和设备能够实现全自动货物运输，以降低运输成本和驾驶安全隐患。

Description

一种实现车辆自动运输的系统及方法、相关设备
本申请要求在2017年7月21日提交中国专利局、申请号为201710600173.0、发明名称为“一种实现车辆自动运输的系统及方法、相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动驾驶领域，特别涉及实现车辆自动运输的系统、实现车辆自动运输的方法、车辆控制器和运营系统。
背景技术
目前，为提高货物运输效率，沿高速公路设置有公路港，沿海设置有临海港口，在公路港/临海港口进行货物调配和存储。目前，货物运输方式主要是通过货车司机驾驶卡车在公路港之间、公路港与其他地点(例如仓库、货运集散地、物流运输公司、工厂等)之间、临海港口之间、临海港口与其他地点之间进行运输。然而该种货物运输方式，不仅需要配置大量的货车司机，而且还需要在公路港/临海港口设置大量的管理人员、装卸货工人等，不仅成本高，而且货车司机由于长期奔波旅途而很大可能存在疲劳驾驶的行为，从而存在安全隐患。
发明内容
鉴于上述问题，本发明提供一种实现车辆自动运输的系统及方法、相关设备，以实现全自动货物运输，降低运输成本和降低驾驶安全隐患。
本发明实施例，提供一种实现车辆自动运输的系统，包括运营系统、车辆的车辆控制器，其中：
运营系统，用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；
车辆控制器，用于根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
本发明实施例，还提供一种车辆控制器，包括：
通信单元，用于收发信息；
控制单元，用于根据通信单元接收到的运输计划，控制车辆自动驾驶到目标公路港入口 的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
本发明实施例，还提供一种运营系统，包括：
车辆调度单元，用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；以及，根据所述车辆的运输计划执行进度调整所述车辆的运输计划；
控制单元，用于获取车辆执行所述运输计划的运输计划执行进度，并将所述运输计划执行进度发送给所述车辆调度单元。
本发明实施例，还提供一种实现车辆自动运输的方法，包括：
运营系统为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；
车辆控制器根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
本发明实施例提供的实现车辆自动运输的系统和方法，一方面，由运营系统管理和调度各个车辆，为各车辆制定运输计划，并将运输计划同步给相应车辆的车辆控制器，无需配备管理人员即可实现车辆管理和调度；另一方面，由车辆控制器控制车辆执行所述运输计划，以完成货物自动运输，无需配备货车司机即可实现货物运输；再一方面，通过车辆控制器控制车辆驾驶，不存在司机疲劳驾驶、酒驾、毒驾等问题，提高驾驶安全性。因此，本发明技术方案，不仅降低了货物运输的成本，而且还降低了车辆驾驶过程中的安全隐患。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。显而易见地，下面描述中的附图仅仅是本发明一些实施例，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本发明实施例中实现自动运输的系统的结构示意图之一；
图2为本发明实施例中公路港的结构示意图之一；
图3为本发明实施例中公路港的结构示意图之二；
图4为本发明实施例中公路港的结构示意图之三；
图5A为本发明实施例中路卡位置为转盘的示意图之一；
图5B为本发明实施例中路卡位置为转盘的示意图之二；
图6为本发明实施例中公路港的结构示意图之四；
图7为本发明实施例中公路港的结构示意图之五；
图8为本发明实施例中车厢厢门的结构示意图之一；
图9为本发明实施例中车厢厢门的结构示意图之二；
图10为本发明实施例中车厢厢门的结构示意图之三；
图11为本发明实施例中车厢厢门的结构示意图之四；
图12为本发明实施例中公路港的结构示意图之六；
图13为本发明实施例中公路港的结构示意图之七；
图14为本发明实施例中公路港的结构示意图之八；
图15为本发明实施例中公路港的结构示意图之九；
图16本发明实施例中实现自动运输的系统的结构示意图之二；
图17本发明实施例中实现自动运输的系统的结构示意图之三；
图18为本发明实施例中车辆控制器的结构示意图；
图19为本发明实施例中运营系统的结构示意图；
图20为本发明实施例中实现自动运输的方法流程图之一；
图21为本发明实施例中实现自动运输的方法流程图之二；
图22为本发明实施例中实现自动运输的方法流程图之三；
图23为本发明实施例中实现自动运输的方法流程图之四。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
以上是本发明的核心思想，为了使本技术领域的人员更好地理解本发明实施例中的技术方案，并使本发明实施例的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明实施例中技术方案作进一步详细的说明。
本发明实施例中，车辆控制器可以是DSP(Digital Signal Processing，数字信号处理器)、 FPGA(Field-Programmable Gate Array，现场可编程门阵列)控制器、工业电脑、行车电脑、ECU(Electronic Control Unit，电子控制单元)或者VCU(Vehicle Control Unit，整车控制器)等，本申请不做严格限定。
本发明提供的实现车辆自动运输的方法及系统适用于所有封闭区域的货物运输，例如公路港、临海港口、货运集散地、仓库、工厂、物流园区等。为便于本领域技术人员理解，本发明实施例均以封闭区域为公路港为例进行描述，其他封闭区域的自动运输原理相同，本发明实施例不再一一描述。
实施例一
参见图1为本发明实施例中实现车辆自动运输的系统，该系统包括运营系统11、多个车辆的车辆控制器12，其中
运营系统11，用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器12；
车辆控制器12，用于根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器13进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置14进行交互完成自动装卸货。
本发明实施例一中，一个运营系统11可以调度和管理多辆车在公路港与公路港之间进行货物运输、在公路港与其他地点之间的货物运输，前述地点可以是仓库、码头、临海港口、货运集散中心、物流园区、火车站、飞机场等等，本申请不做限定。
在一个示例中，如图2所示，公路港中设置有入口、出口、多个仓库(多个仓库设置有相应的编号)，在入口设置有路卡，车辆在路卡位置进行自动过卡之后驶入公路港中，各个仓库设置有库门，在库门的前方设置有相应的装卸货位置，车辆通过路卡之后行驶并停止在目标仓库对应的装卸货位置，从该目标仓库装载预定的货物，或者将车上装载的货物卸到该目标仓库中。
在一个示例中，如图3所示，公路港设置有入口、出口、多个装卸货位置(多个装卸货位置设置有相应的编号，货物堆放在装卸货位置附近，货物可以通过集装箱装载也可以是零散堆放)，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，在该装卸货位置进行装货或卸货。
优选地，本发明实施例中，公路港的路卡设置为自动化路卡，该路卡由对应的路卡控制器13控制开启/关闭，以实现车辆的放行和不放行。路卡可以是路杆、电动伸缩门、电动推拉门等，本申请不做严格限定。
本发明实施例，车辆控制器12与路卡位置对应的路卡控制器13进行交互完成自动过卡， 具体实现可如下：路卡控制器13获取所述车辆的车辆识别信息，并对所述车辆识别信息进行身份验证，在验证通过时控制路卡放行；车辆控制器12在确定所述路卡放行时，控制车辆启动并通过所述路卡位置。
车辆控制器12确定所述路卡放行，具体包括：车辆控制器12在接收到所述路卡控制器13发送的允许通行指示时，确定所述路卡放行；或者，车辆控制器12通过车载传感器检测所述路卡是否放行，在检测放行时确定所述路卡放行。
车辆控制器12通过车载传感器检测所述路卡是否放行，具体包括：车辆控制器12通过车载传感器发送的图像或点云数据判断所述路卡为放行状态时，则确定所述路卡放行。
路卡控制器13获取所述车辆的车辆识别信息，可通过但不仅限于以下任意一种方式(方式A1～方式A2)实现：
方式A1、路卡控制器13主动识别所述车辆的车辆识别信息。
方式A1具体可通过但不仅限于以下两种方式：
方式A11、路卡控制器13控制传感器拍摄所述车辆，对拍摄得到的图像进行图像识别处理，得到所述车辆的车辆识别信息。
所述传感器可以为摄像机，该摄像机可安装路卡位置附近，镜头正对停车位置，例如安装在路卡上、路卡控制器上或者路卡位置旁边的固定物上。该摄像机的镜头的角度可以进行自动调节。
路卡控制器13可以根据摄像头回传的图像，对该图像进行图像处理，若从图像中识别出车辆识别信息，则对该车辆识别信息进行验证；若从图像中识别不出车辆识别信息则自动调节所述摄像头的拍摄角度，以重复前述动作，直到识别出车辆识别信息为止。
路卡控制器13从图像中识别车辆识别信息，具体可通过以下方式实现：路卡控制器13从所述图像中提取特征，将提取的特征与预置的车辆识别信息对应的特征进行比对，根据比对成功的特征确定车辆识别信息。本发明实施例中，前述车辆识别信息为与车辆唯一关联的信息，例如可以是车牌号。当车辆识别信息为车牌号时，与车辆识别信息对应的特征包括尺寸、形状(矩形框)、颜色(蓝色或黑色)、文字特征(矩形框内文字串的长度)等。
方式A12、路卡控制器13控制传感器扫描所述车辆上的二维码或条形码，以得到所述车辆的车辆识别信息。
本发明实施例中，可以预先在车辆的特定位置，例如前挡风玻璃、车辆左侧面板上贴有或印刷有包含车辆识别信息的二维码或条形码。
所述传感器可以为摄像机，该摄像机可安装路卡位置附近，镜头正对停车位置，例如安装在路卡上、路卡控制器上或者路卡位置旁边的固定物上。该摄像机的镜头的角度可以进行自动调节。路卡控制器13调节所述摄像头的拍摄角度，直到成功扫描到所述二维码或条形码 为止。
方式A2、路卡控制器13从所述车辆控制器12接收所述车辆的车辆识别信息。
具体的实例中，车辆控制器12与路卡位置对应的路卡控制器13进行交互完成自动过卡可通过但不仅限于以下任意一种方式(方式B1～方式B3)实现：
方式B1、车辆控制器12与路卡控制器13进行双向信息交互。车辆控制器12向所述路卡控制器13发送车辆识别信息，并在接收到路卡控制器13发送的允许通行指示时，控制所述车辆启动并驶入所述目标公路港；路卡控制器13对所述车辆识别信息进行身份验证，在验证通过时放行所述车辆，并向所述车辆控制器12发送允许通行指示。
本发明实施例中，车辆识别信息可以为与车辆唯一对应的身份信息，例如可以是车辆的车牌号、车辆识别码等。
车辆控制器12与路卡控制器13可以通过公路港内部的局域网通信，也可以是通过基站、蓝牙、wifi等通信方式通信。
方式B2、车辆控制器12向路卡控制器13进行单向信息交互。车辆控制器12向所述路卡控制器13发送车辆识别信息，并在确定所述路卡控制器13放行时，控制所述车辆启动并驶入所述目标公路港；相应地，路卡控制器13对所述车辆识别信息进行身份验证，在验证通过时放行所述车辆。
方式B2中，车辆控制器12可通过车载传感器(如摄像头、激光雷达、毫米波雷达等)回传的信息检测前方路卡是否处于放行状态，若是则确定路卡控制器13放行，若否则确定路卡控制器13并未放行。例如，当路卡为路杆时，若检测到路杆抬起则确定放行；当路卡为电动伸缩门或推拉门时，若检测到电动伸缩门/推拉门向一侧或两侧运动且前方检测无障碍物时则确定放行。
方式B3、车辆控制器12与路卡控制器13无直接信息交互。路卡控制器13识别所述车辆的车辆识别信息，对所述车辆识别信息进行身份验证，在验证通过时放行所述车辆；车辆控制器12在确定所述路卡控制器13放行时，控制所述车辆启动并驶入所述目标公路港。
本发明实施例中，路卡控制器13对车辆识别信息进行身份验证，具体可通过但不仅限于以下任意一种方式(方式C1～方式C3)实现：
方式C1、预先在路卡控制器13中存储有允许通行车辆的车辆识别信息，路卡控制器13将获取的车辆识别信息与预先存储的允许通行的车辆识别信息进行匹配，在匹配成功时确定验证通过。
方式C2、预先在路卡控制器13中存储有通行规则，路卡控制器13判断获取的车辆识别信息是否符合通行规则，若符合则验证通过。
通行规则可以包括但不仅限于以下信息：车辆类型符合预置车辆类型、车牌号符合某些预定地域或者车辆识别信息已登记的信息等。
例如，通行规则为车辆类型为小客车的允许通行、车辆类型为大货车的允许通行、车辆类型为机动车的允许通行、车牌号为本地的允许通行或车牌号为登记的允许通行等。以上仅为示例，在此不再一一穷举。
方式C3、路卡控制器13将获取的车辆识别信息远程给服务器，由服务器对所述车辆识别信息进行身份验证；路卡控制器13从服务器接收所述车辆识别信息的身份验证结果。
该方式C3中，服务器对车辆识别信息进行身份验证的方式可采用方式C1或方式C2，在此不再赘述。
车辆控制器12确定所述路卡是否放行，具体可通过但不仅限于以下任意一种方式(方式D1～方式D2)实现：
方式D1、在接收到所述路卡控制器13发送的允许通行指示时，确定所述路卡放行。即路卡控制器13在身份验证通过时向车辆控制器12发送允许通行指示。
方式D2、车辆控制器12通过车载传感器检测所述路卡是否放行，在检测放行时确定所述路卡放行。
在一个示例中，方式D2具体实现可如下：车辆控制器12预先存储有路卡类型及其放行状态的对应关系；通过车载传感器发送的图像或点云数据确定所述路卡的类型及状态，并将所述状态与对应关系中相应路卡类型对应的放行状态进行匹配，若匹配成功则确定所述路卡放行。
例如：当路卡类型为路杆时，其对应的放行状态为路杆抬起；当路卡类型为电动伸缩门时，其对应的放行状态为缩状态；当路卡类型为电动推拉门时，其对应的放行状态为打开状态。以上仅为示例，在此不再一一穷举。
优选地，在实际情况中有可能会有车辆误入公路港，为更好、更快的引导误入车辆驶离公路港，因此，如图4所示，在公路港的入口位置还设置有驶离公路港的疏导道路，路卡控制器13在对车辆的车辆识别信息验证不通过时，引导车辆从疏导道路驶离所述公路港。在一个实例中，前述路卡控制器13进一步用于：在验证不通过时，向所述车辆控制器12发送不允许通行并指示所述车辆从疏导道路离开所述路卡位置的第一指示信息。相应地，所述车辆控制器12进一步用于，在接收到所述第一指示信息时，控制所述车辆启动并驶离所述路卡位置。
在一个实例中，本发明实施例中路卡位置设置为一个可转动的转盘，路卡控制器13可控制转盘沿着逆时针或顺时针方向旋转并停止在两个方向，一个为驶入公路港的方向(例如正对着路卡)，另一个为驶出公路港的方向，如图5A所示驶出公路港的方向为背对着路卡或者 如图5B所示驶出公路港的方向为正对着疏导道路方向。因此，前述路卡控制器13进一步用于：在验证不通过时，向所述车辆控制器12发送不允许通行的第二指示信息，并转动所述转盘以使所述车辆的车头朝向驶离所述路卡位置的方向；相应地，所述车辆控制器12进一步用于，在接收到所述第二指示信息时，控制车辆启动并驶离所述路卡位置。
优选地，本发明实施例中，车辆控制器12控制车辆自动驾驶到目标公路港入口的路卡位置，具体包括：车辆控制器12规划当前位置到所述路卡位置的行驶路线，并控制车辆沿着所述行驶路线自动驾驶；当车辆控制器12通过车载传感器发送的图像或点云数据识别前方障碍物为路卡且路卡距离所述车辆的距离小于等于预置的距离阈值时，控制所述车辆停止。所述距离阈值可以为一个经验值，也可以根据车辆的行驶速度、惯性等计算，即所述距离阈值为车辆从刹车到停止所行驶的距离。
车辆控制器12可以通过车载端的地图软件/导航软件规划当前位置到所述路卡位置的行驶路线。
在一个实例中，车辆控制器12控制控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括：规划从路卡位置到装卸货位置之间的第一行驶路线，控制所述车辆沿着所述第一行驶路线自动驾驶到所述装卸货位置。
在一个实例中，车辆控制器12进一步还用于：在装卸货完成之后，规划从装卸货位置到出口之间的第二行驶路线，控制所述车辆沿着所述第二行驶路线自动驾驶到出口，并驶离目标公路港。
实施例二
实施例二中的公路港与实施例一中的公路港相比，增加了称重位置、缴费位置；在称重位置设置有对应的地秤传感器，车辆控制器12在称重位置与地秤传感器进行交互完成自动称重；在缴费位置设置有缴费终端，车辆控制器12在缴费位置与缴费终端进行交互完成自动缴费。车辆控制器12在控制车辆完成自动过卡之后，从过卡位置行驶到装卸货位置的过程中还可依次途径称重位置和缴费位置。
图6所示的公路港为在图2所示的公路港基础上还设置有称重位置和缴费位置。
图7所示的公路港为在图3所示的公路港基础上还设置有称重位置和缴费位置。
本发明实施例二中，车辆控制器12控制车辆在路卡位置与路卡控制器13进行交互完成自动过卡的实现方式详见实施例一的相关内容，在此不在赘述。
本发明实施例二中，车辆控制器12控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括：控制所述车辆从所述路卡位置自动驾驶到称重位置，在称重位置与该称重位置对应的地秤传感器15进行交互完成自动称重；控制所述车辆从所述称重位 置自动驾驶到缴费位置，在缴费位置与该缴费位置对应的缴费终端16进行交互完成自动缴费；控制所述车辆从所述缴费位置自动驾驶到所述装卸货位置。
本发明实施例二中，车辆控制器12在称重位置与该称重位置对应的地秤传感器15进行交互完成自动称重，具体实现可如下：地秤传感器15感应到停止在称重位置的所述车辆时，对所述车辆进行称重，并向所述车辆控制器12发送称重结束信息；车辆控制器12在接收到所述称重结束信息时，控制车辆启动并驶离所述称重位置。
在一个实例中，地秤传感器15进一步用于，获取所述车辆的车辆识别信息；将所述称重结果和所述车辆识别信息关联发送给缴费终端16。
地秤传感器15获取所述车辆的车辆识别信息，具体包括：地秤传感器15识别所述车辆的车辆识别信息；或者，地秤传感器15从所述车辆控制器12接收车辆识别信息。
车辆控制器12在称重位置与该称重位置对应的地秤传感器15进行交互完成自动称重，具体可通过但不仅限于以下任意一种方式(方式E1～方式E2)实现：
方式E1、车辆控制器12向所述地秤传感器15发送车辆识别信息，并在接收到所述地秤传感器15发送的称重结束信息时，控制车辆启动并驶离所述称重位置；相应地，地秤传感器15对所述车辆进行称重，将称重结果和所述车辆识别信息关联发送至所述缴费终端16，并向所述车辆控制器12发送称重结束信息。
本发明实施例二中，车辆控制器12与地秤传感器15可通过公路港内部的局域网通信，也可以通过基站、wifi、蓝牙等通信方式通信，本申请不做严格限定。
方式E2、地秤传感器15识别所述车辆的车辆识别信息，并对所述车辆进行称重，将称重结果和所述车辆识别信息关联发送至所述缴费终端16，并向所述车辆控制器12发送称重结束信息；相应地，车辆控制器12接收到所述地秤传感器15发送的称重结束信息时，控制车辆启动并驶离所述称重位置。
地秤传感器15识别所述车辆的车辆识别信息可通过但不仅限于以下方式F1或F2实现：
方式F1、地秤传感器15控制传感器拍摄所述车辆，对拍摄得到的图像进行图像识别处理，得到所述车辆的车辆识别信息。
所述传感器可以为摄像机，该摄像机可安装称重位置附近，镜头正对称重位置，例如安装在称重位置旁边的固定物上。该摄像机的镜头的角度可以进行自动调节。
地秤传感器15可以根据摄像头回传的图像，对该图像进行图像处理，若从图像中识别出车辆识别信息，则对该车辆识别信息进行验证；若从图像中识别不出车辆识别信息则自动调节所述摄像头的拍摄角度，以重复前述动作，直到识别出车辆识别信息为止。
地秤传感器15从图像中识别车辆识别信息，具体可通过以下方式实现：地秤传感器15从所述图像中提取特征，将提取的特征与预置的车辆识别信息对应的特征进行比对，根据比 对成功的特征确定车辆识别信息。本发明实施例中，前述车辆识别信息为与车辆唯一关联的信息，例如可以是车牌号。当车辆识别信息为车牌号时，与车辆识别信息对应的特征包括尺寸、形状(矩形框)、颜色(蓝色或黑色)、文字特征(矩形框内文字串的长度)等。
方式F2、地秤传感器15控制传感器扫描所述车辆上的二维码或条形码，以得到所述车辆的车辆识别信息。
本发明实施例中，可以预先在车辆的特定位置，例如前挡风玻璃、车辆左侧面板、或者车辆底盘贴有或印刷有包含车辆识别信息的二维码或条形码。
地秤传感器15调节所述摄像头的拍摄角度，直到成功扫描到所述二维码或条形码为止。
本发明实施例二中，车辆控制器12在缴费位置与该缴费位置对应的缴费终端16进行交互完成自动缴费，具体实现可如下：缴费终端16获取所述车辆的车辆识别信息；缴费终端16获取所述车辆识别信息对应的称重结果和行驶里程，并根据所述称重结果与行驶里程计算缴费金额；缴费终端16确定所述车辆控制器12缴纳所述缴费金额后，向所述车辆控制器12发送驶离指示信息；车辆控制器12在接收所述驶离指示信息时控制车辆启动并驶离所述缴费位置。
在一个实例中，缴费终端16进一步用于，将所述缴费金额发送给所述车辆控制器12；所述车辆控制器12进一步用于，在接收到所述缴费金额时自动缴纳所述缴费金额。所述缴费终端16确定所述车辆控制器12缴纳所述缴费金额，具体包括：缴费终端16在成功收取所述车辆控制器缴纳的缴费金额时，确定所述车辆控制器缴纳所述缴费金额。
车辆控制器12在接收到所述缴费金额时自动缴纳所述缴费金额，具体包括：车辆控制器12调用第三方支付软件支付所述缴费金额；或者，车辆控制器12控制车载摄像头扫描所述缴费终端对应的二维码，并调用第三方支付软件支付所述缴费金额。
另一个实例中，缴费终端16进一步用于，将所述缴费金额记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC上扣除所述缴费金额。缴费终端16确定所述车辆控制器12缴纳所述缴费金额，具体包括：缴费终端16在将所述缴费金额成功记账在所述账单下或者成功从所述ETC上扣除所述缴费金额之后，确定车辆控制器12缴纳所述缴费金额。
车辆控制器12与缴费位置对应的缴费终端16进行交互完成自动缴费具体可通过但不仅限于以下任意一种方式(方式G1～方式G4)实现：
方式G1、车辆控制器12在接收到缴费终端16发送的缴费金额时自动缴纳所述缴费金额，并在接收到缴费终端16发送的驶离指示信息时控制车辆启动并驶离所述缴费位置。相应地，缴费终端16获取所述车辆的车辆识别信息，并获取所述车辆识别信息对应的称重结果和行驶里程；根据所述称重结果与行驶里程计算缴费金额，并将缴费金额发送给所述车辆控制器12； 以及，收取所述车辆控制器12缴纳的缴费金额，并向所述车辆控制器12发送驶离指示信息。
方式G2、车辆控制器12向缴费终端16发送车辆识别信息，在接收到缴费终端16发送的缴费金额时自动缴纳所述缴费金额；以及，在接收到缴费终端16发送的驶离指示信息时控制车辆启动并驶离所述缴费位置。相应地，缴费终端16获取所述车辆识别信息对应的称重结果和行驶里程；根据所述称重结果与行驶里程计算缴费金额，并将缴费金额发送给所述车辆控制器12；以及，收取所述车辆控制器12缴纳的缴费金额，并向所述车辆控制器12发送驶离指示信息。
在方式G1和方式G2中，车辆控制器12在接收到缴费终端发送的缴费金额时自动缴纳所述缴费金额，具体包括：车辆控制器12在接收到缴费终端16发送的缴费金额时，控制车载摄像头扫描所述缴费终端16对应的二维码，并调用第三方支付软件支付所述缴费金额。相应地，缴费终端16收取所述车辆控制器12缴纳的缴费金额，具体包括：通过第三方支付软件收取所述缴费金额。
方式G3、车辆控制器12在接收到缴费终端16发送的驶离指示信息时控制车辆启动驶离所述缴费位置。相应地，缴费终端16获取所述车辆的车辆识别信息，并获取所述车辆识别信息对应的称重结果和行驶里程；根据所述称重结果与行驶里程计算缴费金额，将所述缴费金额记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC上扣除所述缴费金额，并向所述车辆控制器12发送驶离指示信息。
方式G4、车辆控制器12向缴费终端16发送车辆识别信息，车辆控制器12在接收到缴费终端16发送的驶离指示信息时控制车辆启动驶离所述缴费位置。相应地，缴费终端16获取所述车辆识别信息对应的称重结果和行驶里程；根据所述称重结果与行驶里程计算缴费金额，将所述缴费金额记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC上扣除所述缴费金额，并向所述车辆控制器12发送驶离指示信息。
前述方式G3和方式G4中，缴费终端16在计算得到缴费金额时，直接以记账的方式将该缴费金额记录在付款方的账单下，缴费终端16定期(例如每个月、每个季度、每半年或者每年)向付款方发送账单，由该付款方支付相应的费用，该付款方可以是车辆的司机、车辆所属运输公司等。
在另一个示例中，在缴费终端16预先存储有各个车辆的车辆识别信息与ETC的关联关系，当车辆通过缴费终端16时，缴费终端16从与车辆的车辆识别信息对应的ETC上扣除本次缴费金额。
本发明实施例中，缴费终端16根据称重结果和行驶里程计算缴费金额，具体可通过以下方式：缴费终端16预先存储有道路收费标准，在该道路收费标准中记载有各道路针对不同类型、不同重量的车辆行驶1公里所要收取的费用；缴费终端16根据获取的称重结果、车 辆类型以及所行驶的道路，计算所述车辆行驶1公里需要缴纳的费用，再计算1公里缴纳的费用与行驶里程(以公里为单位)的乘积即可得到所述车辆需要缴纳的缴费金额。
例如，15吨以上的货车在以下不同高速公路其对应的收费标准如下：
1)在G1京哈高速、G6京藏高速、G7京新高速、G45大广高速、G4501六环路、G102通燕高速、G106京广线、S15京津高速、S36机场北线、S46京平高速，缴费2元/公里。
2)在G2京沪高速，0.81元/公里。
3)G4京港澳高速，2.5元/公里。
4)G103京塘线、S12机场高速，2元/公里。
本发明实施例中，缴费终端16获取所述车辆的车辆识别信息，具体可通过但不仅限于以下任意一种方式(方式H1和方式H2)实现：
方式H1、缴费终端16识别所述车辆的车辆识别信息。
方式H2、缴费终端16从所述车辆控制器12接收所述车辆的车辆识别信息。
车辆控制器12与缴费终端16可通过基站、WIFI、蓝牙等通信方式进行通信，本申请不作严格限定。
方式H1具体可通过但不仅限于以下方式H11或H12实现：
方式H11、缴费终端16控制传感器拍摄所述车辆，对拍摄得到的图像进行图像识别处理，得到所述车辆的车辆识别信息。
所述传感器可以为摄像机，该摄像机可安装缴费位置附近，镜头正对缴费位置，例如安装在缴费位置旁边的固定物上。该摄像机的镜头的角度可以进行自动调节。
缴费终端16可以根据摄像头回传的图像，对该图像进行图像处理，若从图像中识别出车辆识别信息，则对该车辆识别信息进行验证；若从图像中识别不出车辆识别信息则自动调节所述摄像头的拍摄角度，以重复前述动作，直到识别出车辆识别信息为止。
缴费终端16从图像中识别车辆识别信息，具体可通过以下方式实现：缴费终端16从所述图像中提取特征，将提取的特征与预置的车辆识别信息对应的特征进行比对，根据比对成功的特征确定车辆识别信息。本发明实施例中，前述车辆识别信息为与车辆唯一关联的信息，例如可以是车牌号。当车辆识别信息为车牌号时，与车辆识别信息对应的特征包括尺寸、形状(矩形框)、颜色(蓝色或黑色)、文字特征(矩形框内文字串的长度)等。
方式H12、缴费终端16控制传感器扫描所述车辆上的二维码或条形码，以得到所述车辆的车辆识别信息。
本发明实施例中，可以预先在车辆的特定位置，例如前挡风玻璃、车辆左侧面板贴有或印刷有包含车辆识别信息的二维码或条形码。缴费终端调节所述摄像头的拍摄角度，直到成功扫描到所述二维码或条形码为止。
本发明实施例中，车辆控制器12在装卸货位置与装卸货控制装置进行交互完成自动装卸货，具体包括：所述装卸货控制装置14获取所述车辆的车辆识别信息，并对所述车辆识别信息进行验证，在验证通过时控制装卸货机器进行装卸货；在装卸货完成后向所述车辆控制器12发送装卸货完成指示；车辆控制器12在接收到所述装卸货完成指示时，控制车辆驶离所述装卸货位置。
本发明实施例中，装卸货控制装置14获取车辆的车辆识别信息可通过但不仅限于以下任意一种方式(方式I1～方式I3)：
方式I1、装卸货控制装置14从所述车辆控制器12接收车辆识别信息，即车辆控制器12主动向装卸货控制装置14发送车辆识别信息；
方式I2、装卸货控制装置14控制传感器拍摄所述车辆，对拍摄得到的图像进行图像识别处理，得到所述车辆的车辆识别信息。
所述传感器可以为摄像机，该摄像机可安装在装卸货控制装置或装卸货位置附近，例如可以安装在装卸货位置附近的固定物上(例如路灯、道路边、树上、仓库库门上、龙门吊上等等)。该摄像机的镜头的角度可以进行自动调节。
装卸货控制装置14可以根据摄像头回传的图像，对该图像进行图像处理，若从图像中识别出车辆识别信息，则对该车辆识别信息进行验证；若从图像中识别不出车辆识别信息则自动调节所述摄像头的拍摄角度，以重复前述动作，直到识别出车辆识别信息为止。
装卸货控制装置14从图像中识别车辆识别信息，具体可通过以下方式实现：装卸货控制装置14从所述图像中提取特征，将提取的特征与预置的车辆识别信息对应的特征进行比对，根据比对成功的特征确定车辆识别信息。本发明实施例中，前述车辆识别信息为与车辆唯一关联的信息，例如可以是车牌号、车辆识别码(该车辆识别码可以为运营系统为该车辆分配的一个身份信息)。当车辆识别信息为车牌号时，与车辆识别信息对应的特征包括尺寸、形状(矩形框)、颜色(蓝色或黑色)、文字特征(矩形框内文字串的长度)等。
方式I3、装卸货控制装置14控制传感器扫描所述车辆上的二维码或条形码，以得到所述车辆的车辆识别信息。
本发明实施例中，可以预先在车辆的特定位置，例如前挡风玻璃、车辆左侧面板上贴有或印刷有包含车辆识别信息的二维码或条形码。装卸货控制装置调节所述摄像头的拍摄角度，直到成功扫描到所述二维码或条形码为止。
本发明实施例中，装卸货控制装置14对所述车辆识别信息进行验证，可通过以下方式实现：装卸货控制装置14中预先存储有车辆识别信息列表，装卸货控制装置14将所述车辆识别信息与所述车辆识别信息列表进行匹配，若匹配成功则验证通过，否则验证不通过；或者，装卸货控制装置14将所述车辆识别信息远程给服务器，从服务器接收验证是否通过的验证结 果。
在一个实例中，所述车辆为集装箱货车时，所述装卸货机器为龙门吊、叉车或者吊车，装卸货控制装置14控制装卸货机器进行装卸货，具体实现可如下：所述装卸货控制装置14控制所述装卸货机器将与所述车辆识别信息对应的集装箱装载至所述车辆上；或者，控制所述装卸货机器将所述车辆上的集装箱卸下。在实例中，可预先在装卸货控制装置14中存储有货运列表，在该货运列表中记载各个车辆的车辆识别信息与货运信息的对应关系，其中货运信息包括集装箱编号、集装箱所在位置以及装卸货位置等。当车辆装货时，装卸货控制装置14从所述货运列表中获取所述车辆识别信息对应的集装箱编号、集装箱位置和装卸货位置，并向所述装卸货机器发送携带有集装箱编号、集装箱位置和装卸货位置的装货指令，以便装卸货机器人到所述集装箱位置，将与所述集装箱编号对应的集装箱装载到停止在所述装卸货位置的车辆上。当车辆卸货时，装卸货控制装置14从所述货运列表中获取所述车辆识别信息对应的集装箱编号、集装箱位置和装卸货位置，并向所述装卸货机器发送携带有集装箱编号、集装箱位置和装卸货位置的卸货指令，以便装卸货机器人将所述装卸货位置的车辆上的集装箱卸下并放置在所述集装箱位置。
在另一个实例中，所述装卸货机器为机器人或者叉车，所述车辆为厢式货车，所述车辆的车厢厢门可电动控制打开和关闭，所述厢门下端设置有升降台，所述装卸货位置为目标仓库的库门前方，所述库门具有库台。车辆控制器12进一步用于，控制车辆停止在装卸货位置之后控制车厢厢门自动打开，并控制升降台向下落至所述库台；以及，在接收到装卸货完成指示时，控制车厢厢门自动关闭并控制升降台收起。相应地，装卸货控制装置14进一步用于，在验证通过时控制所述库门自动打开，并在所述装卸货机器装卸货完成时控制所述库门关闭。
在该另一实例中，所述库台、升降台和车厢地面铺设有磁钉或磁条，装卸货控制装置14控制装卸货机器进行装卸货，具体包括：装卸货控制装置14控制装卸货机器通过其磁导航传感器不间断的感应库台、升降台和车厢地面铺设的磁钉/磁条产生的磁信号按照预先设置的固定路线进行导航循迹，以实现装卸货。
在该另一实例中，在实例中，可预先在装卸货控制装置14中存储有货运列表，在该货运列表中记载各个车辆的车辆识别信息与货运信息的对应关系，其中货运信息包括货物编号、货物所在位置、装卸货位置等。当车辆装货时，装卸货控制装置14从所述货运列表中获取所述车辆识别信息对应的货物编号、货物所在位置、装卸货位置，并向所述装卸货机器发送携带有货物编号、货物所在位置、装卸货位置的装货指令，以便装卸货机器人到所述货物所在位置，将与所述货物编号对应的货物装载到停止在所述装卸货位置的车辆上。当车辆卸货时，装卸货控制装置14从所述货运列表中获取所述车辆识别信息对应的货物编号、货物所在位置、装卸货位置，并向所述装卸货机器发送携带有货物编号、货物所在位置、装卸货位置的 卸货指令，以便装卸货机器人将所述装卸货位置的车辆上的货物卸下并放置在所述货物所在位置。
本发明实施例中，车厢厢门的结构可以多种多样，不同结构的车厢厢门其对应的自动打开方式不同，以下结构1～结构4仅为示例，本发明实施例中车厢厢门的结构并不仅限于以下4种结构。
结构1、如图8所示，车厢厢门包括上下开合的上厢门和下厢门，该下厢门为具有自动升降功能的升降台。车辆控制器控制车厢厢门自动打开，具体实现如下：车辆控制器控制所述上厢门向上打开以及控制所述下厢门向下打开并降落到所述库台上。
结构2、如图9所示，车厢厢门包括一个具有自动升降功能的升降台，当升降台收起时其为车厢厢门。车辆控制器控制车厢厢门自动打开，具体实现如下：辆控制器控制所述升降台向下打开并降落到所述库台上。
结构3、如图10所示，车厢厢门包括一个卷帘厢门和一个具有升降功能的升降台。车辆控制器控制车厢厢门自动打开，具体实现如下：车辆控制器控制所述升降台向下打开并降落到所述库台上，再控制所述卷帘厢门向上卷帘至顶部。
结构4、如图11所示，车厢厢门包括左右对开的左厢门和右厢门和一个具有升降功能的升降台。车辆控制器控制车厢厢门自动打开，具体实现如下：车辆控制器控制所述升降台向下打开并降落到所述库台上，再控制左厢门和右厢门向外打开。
此外，前述结构4中的左厢门和右厢门还可以设置为向左和向右伸缩的电动伸缩门。
车厢厢门的结构还是以是包括车厢厢门和货板。车厢厢门可以由上下开合的上厢门和下厢门组成，还可以是左右对开的左厢门和右厢门组成。货板可以通过滑轨在车厢地面或者车辆底盘推拉，类似抽屉结构。
优选地，由于车辆后方具有盲区，因此，为精确的控制车辆自动驾驶到装卸货位置，本发明实施例中，装卸货控制装置14包含路测基站，该路测基站安装在装卸货位置附近，例如道路边、路灯上、库门上、龙门吊上等。
优选地，本发明实施例中，车辆控制器12控制车辆自动驾驶到所述装卸货位置，具体可通过但不仅限于以下任意一种方式(方式J1～方式J2)实现：
方式J1、车辆控制器12从所述路测基站接收环境信息和路测基站所在位置，以及从所述车辆的车载传感器(如定位传感器，例如GPS、IMU(Inertial Measurement Unit，惯性测量单元)等)接收车辆所在位置；车辆控制器12根据车辆所在位置、路测基站所在位置和环境信息，控制车辆行驶并按照预置位姿停止在所述装卸货位置。
方式J2、车辆控制器12控制车载传感器将车辆所在位置发送给所述路测基站，并根据路测基站发送的行驶引导信息(例如向左转**度、向右转**度、后退**米等等)控制车辆行驶 并按照预置的位姿停止在所述装卸货位置，其中所述行驶引导信息为路测基站根据车辆所在位置和路测基站所在位置生成的驾驶控制指令。
在方式J2中，路测基站通过车辆控制器12获取车辆运动学模型，根据该车辆运动学模型以及车辆当前位置、车辆当前姿态，计算车辆从当前位置到达指定位置的最佳轨迹；路测基站根据所述最佳轨迹、车辆当前姿态、车辆当前位置以及车辆运动学模型，计算车辆操舵角度及速度，并将操舵角度及速度发送给车辆控制器，以便车辆控制器12根据该操舵角度及速度控制车辆驾驶并停止在装卸货位置。
方式J1和方式J2中，预置位姿与车辆车厢门的位置有关系，当车厢厢门设置在车辆后方时，则预置位姿为车辆屁股正对库门；当车厢厢门设置在车辆侧面时，则预置位姿为车辆的侧面正对库门。
实施例三
实施例三中的公路港与实施例一、实施例二中的公路港相比，增加了燃料补充位置，在该燃料补充站设置有燃料补充终端17，车辆控制器12控制车辆停止在燃料补充位置，并与燃料补充终端17进行交互完成自动补充燃料。如图12所示，在图6所示的公路港基础上增加燃料补充位置。如图13所示，在图7所示的公路港中增加燃料补充位置。
由于燃料补充量的多少与车辆的载重关系较大，因此，在为车辆补充燃料之前需要对车辆进行称重。所述车辆控制器12进一步用于：车辆控制器12在完成自动装卸货之后，控制所述车辆从自动装卸货位置行驶到称重位置，并与称重位置对应的地秤传感器进行交互完成自动称重；车辆控制器12控制所述车辆从称重位置行驶到燃料补充位置，并与所述燃料补充位置对应的燃料补充终端17进行交互完成自动补充燃料。
本发明实施例中，公路港中可以仅设置一个称重位置，也可以设置多个称重位置。例如可以在入口位置设置有一个称重位置和一个缴费位置，在出口位置设置有一个称重位置和一个缴费位置。
车辆控制器12与燃料补充位置对应的燃料补充终端17进行交互完成自动补充燃料，具体实现可如下：车辆控制器12向所述燃料补充终端17发送携带燃料量的补充指令；以及，在接收到燃料补充终端17发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置；燃料补充终端17根据所述补充指令自动向所述车辆的燃料箱补充相应燃料量的燃料；以及，在确定所述车辆控制器12缴纳所述燃料费后，向车辆控制器12发送燃料补充完成指示。
在一个实例中，车辆控制器12进一步用于，根据车辆的重量和运输计划中的燃料补充策略计算需要补充的燃料量；所述补充指令中携带有所述燃料量。
在一个实例中，所述燃料补充终端17进一步用于，获取所述车辆的车辆识别信息，并获取与所述车辆识别信息对应的重量和燃料补充策略，根据所述重量和运输计划中的燃料补充策略计算需要补充的燃料量。
在一个实例中，燃料补充策略可以为不同重量级别车辆百公里所消耗的燃料量(后续称为百公里燃料量)。则车辆控制器12/燃料补充终端17计算需要补充的燃料量，具体为：获取所述车辆的重量所属重量级别对应的百公里燃料量，根据百公里燃料量与车辆运输计划中的行驶里程(即起点与终点之间的行驶距离)确定所需燃料总量；获取所述车辆的燃料箱中剩余燃料量；将所需燃料总量与剩余燃料量的差值确定为需要补充的燃料量。或者，还可以直接将所需燃料总量确定为需要补充的燃料量。
在一个实例中，燃料补充策略可以为需要补充的燃料量的计算公式，则车辆控制器12/燃料补充终端17计算需要补充的燃料量，具体为：获取所述计算公式中的参数(例如包括车辆重量、行驶里程以及以下任意一种或多种：地面摩擦系数、风阻、车辆其他部件百公里消耗燃料量)的取值，并根据各参数的取值计算需要补充的燃料量。
在一个实例中，燃料补充终端17进一步用于，计算所述燃料量对应的燃料费，并将所述燃料费发送给所述车辆控制器12，燃料补充终端17在成功收取所述车辆控制器缴纳的燃料费时确定所述车辆控制器缴纳所述燃料费。相应地，车辆控制器12进一步用于，在接收到所述燃料费时自动缴纳所述燃料费。
车辆控制器12在接收到燃料费时自动缴纳燃料费，具体包括：车辆控制器12将燃料充值卡放置燃料补充终端的刷卡位置进行刷卡；或者，车辆控制器12控制车载摄像头扫描所述燃料补充终端对应的二维码，并调用第三方支付软件支付所述燃料费。
在另一个实例中，燃料补充终端17进一步用于：计算所述燃料量对应的燃料费，并将所述燃料费记账在与所述车辆识别信息对应的账单下，或者从所述车辆识别信息对应的ETC或燃料充值卡上扣除所述燃料费；燃料补充终端17在成功将燃料费记账或者成功从对应ETC/燃料充值卡上扣除燃料费时，确定所述车辆控制器12缴纳所述燃料费。
在实施例中，车辆控制器12与燃料补充位置对应的燃料补充终端17进行交互完成自动补充燃料可通过但不仅限于以下任意一种方式(方式K1～K4)实现：
方式K1、车辆控制器12根据车辆的重量和运输计划中的燃料补充策略计算需要补充的燃料量，并向所述燃料补充终端17发送携带燃料量的补充指令；以及，在接收到燃料费时自动缴纳燃料费；在接收到燃料补充终端17发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置。相应地，燃料补充终端17根据所述补充指令自动向所述车辆的燃料箱补充相应燃料量的燃料，并将燃料费发送给所述车辆控制器12；以及，收取所述车辆控制器12缴纳的燃料费，向车辆控制器12发送燃料补充完成指示。
方式K2、车辆控制器12向燃料补充终端17发送携带车辆重量的补充指令，以及，在接收到燃料费时自动缴纳燃料费；在接收到燃料补充终端17发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置。相应地，燃料补充终端17根据所述补充指令中的车辆重量和预置的燃料补充策略计算需要补充的燃料量，并自动向所述车辆的燃料箱补充相应燃料量的燃料，并将燃料费发送给所述车辆控制器12；以及，收取所述车辆控制器12缴纳的燃料费，向车辆控制器12发送燃料补充完成指示。
方式K1和方式K2中，车辆控制器12接收到燃料费时自动缴纳燃料费以及燃料补充终端17收取燃料费的方式可通过但不仅限于以下方式(方式L1～方式L2)实现：
方式L1、车辆控制器12在接收到燃料费时，将燃料充值卡放置燃料补充终端17的刷卡位置进行刷卡；燃料补充终端17读取所述燃料充值卡，并从中扣除所述燃料费。
本发明实施例中，可以在车辆的驾驶仓设置机械臂，通过该机械臂从存放燃料充值卡的位置将燃料充值卡防止在燃料补充终端的刷卡位置进行刷卡。
方式L2、车辆控制器12在接收到燃料费时，控制车载摄像头扫描所述燃料补充终端17对应的二维码，并调用第三方支付软件支付所述燃料费；燃料补充终端17通过第三方支付软件收取所述燃料费。
方式K3、车辆控制器12根据车辆的重量和运输计划中的燃料补充策略计算需要补充的燃料量，并向所述燃料补充终端发送携带燃料量的补充指令；以及，在接收到燃料补充终端发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置。相应地，燃料补充终端17根据所述补充指令自动向所述车辆的燃料箱补充相应燃料量的燃料，并将燃料费记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC或燃料充值卡上扣除所述缴费金额，并向所述车辆控制器12发送燃料补充完成指示。
方式K4、车辆控制器12向燃料补充终端17发送携带车辆重量的补充指令，在接收到燃料补充终端发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置。相应地，燃料补充终端17根据所述补充指令中的车辆重量和预置的燃料补充策略计算需要补充的燃料量，自动向所述车辆的燃料箱补充相应燃料量的燃料，并将燃料费记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC或燃料充值卡上扣除所述缴费金额，并向所述车辆控制器12发送燃料补充完成指示。
方式K3和方式K4中，燃料补充终端17预先存储有各个车辆的车辆识别信息与相应账单/ETC的关联关系。当为记账方式时，燃料补充终端17预先存储有车辆识别信息与付款方的关联关系，燃料补充终端17定期(例如每个月、每个季度、每半年或每年)向相应的付款人发送所述车辆识别信息对应的账单以支付相应费用。
在方式K3和方式K4中，车辆控制器12主动将车辆识别信息发送给燃料补充终端17， 或者，由燃料补充终端17识别所述车辆的车辆识别信息，识别的方式具体参见前述路卡控制器13识别车辆识别信息的方式，在此不再赘述。
本发明实施例中，燃料可包括以下几种类型：可燃制剂(例如汽油、柴油、乙醇等)、可燃气体(沼气、天然气等)、燃料电池等，本申请不做严格限定。
实施例四
本实施例四提供的公路港与前述实施例一、实施例二、实施例三提供的公路港相比，增加检修位置，在检修位置有检修装置18，车辆控制器12控制车辆停止在检修位置，并与检修装置18进行交互完成自动检修。例如，如图14，在前述图12中还设置有检修位置；或者如图15，在前述图13中还设置有检修位置。
所述车辆控制器12进一步用于：获取车辆自检数据；根据所述车辆自检数据确定车辆发生故障时，控制车辆自动驾驶并停止在检修位置；并与所述检修位置对应的检修装置进行交互完成自动检修。
本发明实施例中，车辆控制器12获取车辆自检数据，具体可通过但不仅限于以下任意一种方式(方式M1～方式M2)：
方式M1、车辆控制器12向车辆自检系统获取监测数据。
在方式M1中，车辆控制器12周期性主动向车辆自检系统发送监测数据获取请求，以从所述车辆自检系统获取监测数据。
方式M2、车辆控制器12从车辆自检系统接收监测数据。
在方式M2中，车辆自检系统周期性主动向车辆控制器发送监测数据。
本发明实施例中，监测数据包含车辆中各个部件的自检数据，例如胎压异常报警信息、TCU(Transmission Control Unit，即自动变速箱控制单元)异常报警信息、电压异常报警信息、ABS(防抱死制动系统)异常报警信息、刹车异常报警信息、气囊异常报警信息等。
本发明实施例中，若监测数据中包含部件的报警信息则确认相应的部件发生故障。
车辆控制器12与所述检修位置对应的检修装置18进行交互完成自动检修，具体包括：车辆控制器12向所述检修装置18发送车辆诊断信息；检修装置18根据所述车辆诊断信息确定相应的维修建议，并将所述维修建议发送给所述车辆控制器12。
本发明实施例中，车辆控制器12通过CAN(Controller Area Network，控制器局域网络)总线，从OBD(On-Board Diagnostic，车载诊断系统)获取车辆诊断信息，并将所述车辆诊断信息发送给所述检修装置18。
本发明实施例中，检修装置18根据所述车辆诊断信息确定相应的维修建议具体可通过但不仅限于以下任意一种方式(方式N1～方式N3)：
方式N1、检修装置18根据所述车辆诊断信息，从预存的车辆诊断信息和维修建议的对应关系中，获取对应的维修建议。
方式N2、检修装置18将所述车辆诊断信息远程给服务器，从所述服务器接收所述车辆诊断信息对应的维修建议。
方式N3、检修装置18在维修界面显示包含所述车辆诊断信息的建议请求，并根据维修人员在所述维修界面针对所述建议请求所回复的内容，生成所述车辆诊断信息对应的维修建议。
本发明实施例中，车辆控制器12控制车辆驾驶并停止在检修位置，具体包括：车辆控制器12通过安装在车辆控制器中的地图软件或导航软件，规划从当前位置到选取的检修位置的行驶路线；车辆控制器12控制所述车辆沿着所述行驶路线驾驶并停止在所述检修位置。
本发明实施例中，选取的检修装置可以为距离车辆当前位置最近的检修位置。
本发明实施例中，可以通过车辆控制器12主动将车辆识别信息发送给检修装置18，也可以是检修装置18主动识别所述车辆的车辆识别信息。检修装置18识别车辆识别信息的方式可参见前述路卡控制器13识别车辆识别信息的方式，在此不再赘述。
本发明实施例中，维修建议可以包括但不仅限于以下一种或多种：无需修车、目标公路港内修车、呼叫救援、需要去维修店/4S店进行小修、需要去维修店/4S店进行大修等。当维修建议为去维修店/4S店进行小修/大修时，车辆控制器12通过电子地图查询距离目标公路港最近的维修店或4S店，并控制车辆从所述检修位置行驶到目标公路港出口位置以及控制车辆从出口位置驾驶到最近的维修店或4S店。
当车辆完成自动装货之后，车辆控制器12还可以进一步的控制所述车辆从装卸货位置自动驾驶到目标公路港口的出口位置，并驶离所述目标公路港。
车辆控制器12控制所述车辆从装卸货位置自动驾驶到目标公路港口的出口位置具体可包括：控制车辆从装卸货位置自动驾驶到称重位置进行自动称重，控制车辆从称重位置自动驾驶到缴费位置进行自动缴费，以及控制车辆从缴费位置自动驾驶到出口位置。
在称重位置进行自动称重、在缴费位置进行自动缴费的实现方式可详见前述内容，在此不再赘述。
在一个实例中，前述实施例一到实施例四中，如图16所示，由运营系统11直接管理所有公路港内部的所有终端设备，即运营系统11可直接与各公路港内部所有终端设备进行交互。此时，运营系统11获取车辆执行所述运输计划的运输计划执行进度，具体包括：从所述运输计划中目标公路港的终端设备接收所述车辆执行所述运输计划的任务执行信息，并根据所述任务执行信息生成运输计划执行进度；其中，所述运输计划执行进度为所述控制单元根据任务执行信息标记所述运输任务单中的已完成任务和未完成任务后得到。
在另一个实例中，前述实施例一到实施例四中，如图17所示，预先为每个公路港设置对应的一个公路港控制系统19，或者预先为所各公路港设置对应的一个公路港控制系统19，由公路港控制系统19管理其所管辖的公路港内部的所有终端设备。运营系统11管理各公路港控制系统19。此时，运营系统11获取车辆执行所述运输计划的运输计划执行进度，具体包括：根据车辆的运输计划生成运输任务单，并将所述运输任务单与车辆的车辆识别信息关联发送给运输计划中目标公路港对应的公路港控制系统19；以及，从目标公路港控制系统19接收所述车辆的运输计划执行进度；其中，所述运输计划执行进度为所述公路港控制系统19根据目标公路港内部的终端设备发送的任务执行信息标记所述运输任务单中的已完成任务和未完成任务后得到。
本发明实施例中，公路港内部包含的终端设备包含以下一种或多种：路卡控制器、地秤传感器、缴费终端、装卸货控制装置、燃料补充终端和检修装置等。所述路卡控制器发送的任务执行信息为所述车辆是否已过卡；所述地秤传感器发送的任务执行信息为所述车辆是否已称重；所述缴费终端发送的任务执行信息为所述车辆是否已缴费；所述装卸货控制装置发送的任务执行信息为车辆是否已装卸货；燃料补充终端发送的任务执行信息为车辆是否已补充燃料；检修装置发送的任务执行信息为车辆是否已自动检修。
本发明实施例中，运输计划包括：车辆识别信息、运输任务信息和港内任务信息，其中运输任务信息包括运输起点、起点出发时间、目标公路港、装货/卸货指示信息、到达目标公路港时间；港内任务信息包括任务项、任务项执行顺序，其中任务项包括以下任意一种或多种：路卡位置过卡、称重位置称重、缴费位置缴费、装卸货位置装货/卸货、燃料补充位置补充燃料、检修位置检修、装卸货后称重位置称重、出目标公路港。
本发明实施例中，在运营系统中存储有货运列表，该货运列表中记录有大量的货运任务，每个货运任务包括货物类型、货物量、货物存放位置、货物运输目的地、货物运输出发时间、货物运输到达目的地的到达时间等。运营系统根据实际情况实时或定期对该货运列表进行更新，如新增货运任务、删除货运任务、修改货运任务等。
在运营系统中还存储有各运输车辆的基本信息和动态信息，其中基本信息包括车辆的车辆识别信息、车辆载重、车辆类型(集装箱车、厢式货车、油罐车等)、可运输货物类型(生鲜类、易燃物体类、动物类、普通货物类等)等，动态信息包括车辆状态信息(正常、故障、检修等)、车辆位置信息、车辆运营状态(正在执行运输计划、空闲状态等)等。运营系统与车辆的车辆控制器进行通信，可以由运营系统实时或定期从车辆控制器获取车辆的动态信息，或者也可以由车辆控制器周期性的向运营系统同步所述动态信息。
运营系统为车辆制定运输计划，包括：运营系统根据各个货运任务和车辆的基本信息和动态信息，确定各个货运任务分别匹配的车辆；根据货运任务为与该货运任务匹配的车辆制 定与所述货运任务相匹配的运输计划。
例如，某个货运任务是：汽油10吨、存放在仓库A、需要在2017年7月1日从仓库A出发、7月3日到达公路港B；则运营系统从所有的车辆中选取正常运营、7月1日～7月3日空闲、可装载10吨以上汽油的油罐车作为该货运任务匹配的车辆(若选取的油罐车为多辆，则从该多辆中选取距离仓库A较近的车辆作为匹配车辆)；运营系统根据所述运输任务为所述匹配的车辆制定运输计划。
本发明实施例中，在图2、图3、图7、图12、图13、图14、图15所示的公路港中设置有如图4所示的疏导道路。还可以在图2、图3、图4、图7、图12、图13、图14、图15所示的公路港中的路卡位置设置为如图5A或图5B所示转盘。还可在图2、图3、图4、图5A、图5B、图7、图12、图13、图14、图15所示的公路港中的出口位置之前设置有称重位置和缴费位置。车辆驶离公路港之前，在称重位置完成自动称重以及在缴费位置完成自动缴费之后，再通过出口驶离公路港。在此不再赘述。
本发明实施例提供的附图中，公路港中称重位置、缴费位置、检修位置、燃料补充位置仅仅是示意，本申请并不做严格限定。
本发明实施例提供的实现自动运输的系统不仅可以应用于公路港，还可以应用于码头、临海港口(如洋山港)等。
实施例五
本发明实施例五提供一种车辆控制器，该车辆控制器的结构如图18所示，包括：
通信单元21，用于收发信息；
控制单元22，用于根据通信单元21接收到的运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
通信单元21从运营系统接收运输计划，并将该运输计划转发给所述控制单元22。
优选地，控制单元22与所述路卡位置对应的路卡控制器进行交互完成自动过卡，具体包括：控制单元22在确定所述路卡放行时，控制车辆启动并通过所述路卡位置。
优选地，控制单元22确定所述路卡放行，具体包括：控制单元22在通过通信单元21接收到所述路卡控制器发送的允许通行指示时，确定所述路卡放行；或者，控制单元22通过车载传感器检测所述路卡是否放行，在检测放行时确定所述路卡放行。
优选地，控制单元22通过车载传感器检测所述路卡是否放行，具体包括：控制单元22通过车载传感器发送的图像或点云数据判断所述路卡为放行状态时，则确定所述路卡放行。
本发明实施例五中，控制单元22可通过车载传感器(如摄像头、激光雷达、毫米波雷达等)回传的信息检测前方路卡是否处于放行状态；例如，当路卡为路杆时，若检测到路杆抬起则确定放行；当路卡为电动伸缩门或推拉门时，若检测到电动伸缩门/推拉门向一侧或两侧运动且前方检测无障碍物时则确定放行。
优选地，控制单元22进一步用于，在通过所述通信单元21从路卡控制器接收到不允许通行并指示所述车辆从疏导道路离开所述路卡位置的第一指示信息时，控制所述车辆启动并驶离所述路卡位置。
优选地，控制单元22进一步用于，在通过所述通信单元21从路卡控制器接收到不允许通行的第二指示信息时，控制所述车辆启动并驶离所述路卡位置。
优选地，控制单元22控制车辆自动驾驶到目标公路港入口的路卡位置，具体包括：控制单元22规划当前位置到所述路卡位置的行驶路线，并控制车辆沿着所述行驶路线自动驾驶；控制单元22通过车载传感器发送的图像或点云数据识别前方障碍物为路卡且路卡距离所述车辆的距离小于等于预置的距离阈值时，控制所述车辆停止。
控制单元22控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括：控制所述车辆从所述路卡位置自动驾驶到称重位置，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重；控制所述车辆从所述称重位置自动驾驶到缴费位置，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费；控制所述车辆从所述缴费位置自动驾驶到装卸货位置。
优选地，控制单元22在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重，具体包括：通过通信单元21从地秤传感器接收到称重结束信息时，控制车辆启动并驶离所述称重位置。
优选地，所述控制单元22进一步用于：通过所述通信单元21向所述地秤传感器发送车辆识别信息。
优选地，控制单元22与缴费位置对应的缴费终端进行交互完成自动缴费，具体包括：控制单元22在通过所述通信单元21从缴费终端发送的驶离指示信息时，控制车辆启动并驶离所述缴费位置。
优选地，所述控制单元22进一步用于，在通过通信单元21从所述缴费终端发送的缴费金额时，自动缴纳所述缴费金额。
优选地，控制单元22自动缴纳所述缴费金额，具体用于：
控制单元22调用第三方支付软件支付所述缴费金额；或者，控制单元22控制车载摄像头扫描所述缴费终端对应的二维码，并调用第三方支付软件支付所述缴费金额。
控制单元22在装卸货位置与装卸货控制装置进行交互完成自动装卸货，具体包括：在通 信单元21从装卸货控制装置接收到装卸货完成指示时，控制车辆驶离所述装卸货位置。
在一个实例中，所述车辆为厢式货车，所述车辆的车厢厢门可电动控制打开和关闭，所述厢门下端设置有升降台，所述装卸货位置为目标仓库的库门前方，所述库门具有库台。控制单元22进一步用于，控制车辆停止在装卸货位置之后控制车厢厢门自动打开，并控制升降台向下落至所述库台；以及，在接收到装卸货完成指示时，控制车厢厢门自动关闭并控制升降台收起。
预置位姿与车辆车厢门的位置有关系，当车厢厢门设置在车辆后方时，则预置位姿为车辆屁股正对库门；当车厢厢门设置在车辆侧面时，则预置位姿为车辆的侧面正对库门。
优选地，由于车辆后方具有盲区，因此，为精确的控制车辆自动驾驶到装卸货位置，本发明实施例中，装卸货控制装置包含路测基站，该路测基站安装在装卸货位置附近，例如道路边、库门上、龙门吊上等。
在一个实例中，控制单元22控制车辆自动驾驶并停止在装卸货位置，具体包括：控制单元22从所述路测基站接收环境信息和路测基站所在位置，以及从所述车辆的车载传感器接收车辆所在位置；控制单元22根据车辆所在位置、路测基站所在位置和环境信息，控制车辆行驶并按照预置位姿停止在所述装卸货位置。
在一个实例中，控制单元22控制车辆自动驾驶并停止在装卸货位置，具体包括：控制单元22控制车载传感器将车辆所在位置发送给所述路测基站，并根据路测基站发送的行驶引导信息控制车辆行驶并按照预置的位姿停止在所述装卸货位置，其中所述行驶引导信息为路测基站根据车辆所在位置和路测基站所在位置生成的驾驶控制指令。
为更好的方便车辆补充燃料，在公路港中还设置有燃料补充站。由于燃料补充量的多少与车辆的载重关系较大，因此，在为车辆补充燃料之前需要对车辆进行称重。
控制单元22进一步用于：在完成自动装卸货之后，控制所述车辆从自动装卸货位置行驶到称重位置，并与称重位置对应的地秤传感器进行交互完成自动称重；控制所述车辆从称重位置行驶到燃料补充位置，并与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料。
控制单元22与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料，具体包括：通过所述通信单元21向燃料补充终端发送携带燃料量的补充指令；以及，在通信单元21接收到燃料补充终端发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置。
所述控制单元22进一步用于，根据车辆的重量和运输计划中的燃料补充策略计算需要补充的燃料量，所述补充指令中携带有所述燃料量。
所述控制单元22进一步用于，在通信单元21从燃料补充终端接收到所述燃料费时自动 缴纳所述燃料费。
控制单元22在接收到燃料费时自动缴纳燃料费，具体包括：控制单元22将燃料充值卡放置燃料补充终端的刷卡位置进行刷卡；或者，控制单元22控制车载摄像头扫描所述燃料补充终端对应的二维码，并调用第三方支付软件支付所述燃料费。
优选地，为进一步提高车辆驾驶的安全性，控制单元22进一步用于：获取车辆自检数据，根据所述车辆自检数据确定车辆发生故障时，控制车辆自动驾驶并停止在检修位置；并与所述检修位置对应的检修装置进行交互完成自动检修。
控制单元22与所述检修位置对应的检修装置进行交互完成自动检修，具体包括：控制单元22通过通信单元21向所述检修装置发送车辆诊断信息；并通过所述通信单元21从检修装置接收相应的维修建议。
本发明实施例中，维修建议可以包括但不仅限于以下一种或多种：无需修车、在目标公路港内维修、等待救援、需要去维修店/4S店进行小修、需要去维修店/4S店进行大修等。当维修建议为去维修店/4S店进行小修/大修时，控制单元22通过电子地图查询距离目标公路港最近的维修店或4S店，并控制车辆从所述检修位置行驶到目标公路港出口位置以及控制车辆从出口位置驾驶到最近的维修店或4S点。
本发明实施例五中，控制单元22可通过通信单元21主动将车辆识别信息发送给检修装置，也可以由检修装置主动识别所述车辆的车辆识别信息。
优选地，所述控制单元22进一步用于：在完成自动装卸货之后，控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港。
实施例六
本发明实施例提供一种运营系统，该运营系统的结构如图19所示，包括：
车辆调度单元31，用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；以及，根据所述车辆的运输计划执行进度调整所述车辆的运输计划；
控制单元32，用于获取车辆执行所述运输计划的运输计划执行进度，并将所述运输计划执行进度发送给所述车辆调度单元31。
在一个实例中，由运营系统直接管理所有公路港内部的所有终端设备，即控制单元32可直接与各公路港内部所有终端设备进行交互。此时，控制单元32获取车辆执行所述运输计划的运输计划执行进度，具体包括：从所述运输计划中目标公路港的终端设备接收所述车辆执行所述运输计划的任务执行信息，并根据所述任务执行信息生成运输计划执行进度；其中，所述运输计划执行进度为所述控制单元32根据任务执行信息标记所述运输任务单中的已完成任务和未完成任务后得到。
在另一个实例中，预先为每个公路港设置对应的一个公路港控制系统，或者预先为所各公路港设置对应的一个公路港控制系统，由公路港控制系统管理其所管辖的公路港内部的所有终端设备。运营系统管理各公路港控制系统，即控制单元32可直接与各公路港控制系统进行交互。此时，所述控制单元32获取车辆执行所述运输计划的运输计划执行进度，具体包括：根据车辆的运输计划生成运输任务单，并将所述运输任务单与车辆的车辆识别信息关联发送给运输计划中目标公路港对应的公路港控制系统；以及，从目标公路港控制系统接收所述车辆的运输计划执行进度；其中，所述运输计划执行进度为所述公路港控制系统根据目标公路港内部的终端设备发送的任务执行信息标记所述运输任务单中的已完成任务和未完成任务后得到。
本发明实施例中，公路港内部包含的终端设备包含以下一种或多种：路卡控制器、地秤传感器、缴费终端、装卸货控制装置、燃料补充终端和检修装置等。所述路卡控制器发送的任务执行信息为所述车辆是否已过卡；所述地秤传感器发送的任务执行信息为所述车辆是否已称重；所述缴费终端发送的任务执行信息为所述车辆是否已缴费；所述装卸货控制装置发送的任务执行信息为车辆是否已装卸货；燃料补充终端发送的任务执行信息为车辆是否已补充燃料；检修装置发送的任务执行信息为车辆是否已自动检修。
实施例七
本发明实施例七提供一种实现车辆自动运输的方法，该方法的流程图如图20所示，包括：
步骤101、运营系统为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；
步骤102、车辆控制器根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；
步骤103、车辆控制器控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
在一个示例中，所述步骤102中，与所述路卡位置对应的路卡控制器进行交互完成自动过卡，具体包括步骤A1～步骤A2：
步骤A1、路卡控制器获取所述车辆的车辆识别信息，并对所述车辆识别信息进行身份验证，在验证通过时控制路卡放行。
步骤A2、车辆控制器在确定所述路卡放行时，控制车辆启动并通过所述路卡位置。
在步骤A2中，车辆控制器确定所述路卡放行，具体包括：车辆控制器在接收到所述路卡控制器发送的允许通行指示时，确定所述路卡放行；或者，车辆控制器通过车载传感器检测所述路卡是否放行，在检测放行时确定所述路卡放行。
优选地，车辆控制器通过车载传感器检测所述路卡是否放行，具体包括：车辆控制器通过车载传感器发送的图像或点云数据判断所述路卡为放行状态时，则确定所述路卡放行。
优选地，路卡控制器获取所述车辆的车辆识别信息，可通过但不仅限于以下任意一种方式：路卡控制器主动识别所述车辆的车辆识别信息；或者，路卡控制器从所述车辆控制器接收所述车辆的车辆识别信息。
路卡控制器主动识别所述车辆的车辆识别信息，具体可参见实施例一中的方式，在此不再赘述。
优选地，在一个实例中，在实际情况中有可能会有车辆误入公路港，为更好、更快的引导误入车辆驶离公路港，在前述方法还包括：路卡控制器在验证不通过时，向所述车辆控制器发送不允许通行并指示所述车辆从疏导道路离开所述路卡位置的第一指示信息；所述车辆控制器在接收到所述第一指示信息时，控制所述车辆启动并驶离所述路卡位置。
优选地，在一个实例中，为进一步提高引导误入车辆驶离公路港的速度，本发明实施例中，所述路卡位置设置为一个可转动的转盘，路卡控制器可控制转盘沿着逆时针或顺时针方向旋转并停止在两个方向，一个为驶入公路港的方向(例如正对着路卡)，另一个为驶出公路港的方向(如驶出公路港的方向为背对着路卡，或者驶出公路港的方向为正对着疏导道路方向)。在前述方法还包括：路卡控制器在验证不通过时，向所述车辆控制器发送不允许通行的第二指示信息，并转动所述转盘以使所述车辆的车头朝向驶离所述路卡位置的方向；车辆控制器在接收到所述第二指示信息时，控制车辆启动并驶离所述路卡位置。
优选地，本发明实施例中，车辆控制器控制车辆自动驾驶到目标公路港入口的路卡位置，具体包括：车辆控制器规划当前位置到所述路卡位置的行驶路线，并控制车辆沿着所述行驶路线自动驾驶；当车辆控制器通过车载传感器发送的图像或点云数据识别前方障碍物为路卡且路卡距离所述车辆的距离小于等于预置的距离阈值时，控制所述车辆停止。
车辆控制器可以通过车载端的地图软件/导航软件规划当前位置到所述路卡位置的行驶路线。所述距离阈值可以为一个经验值，也可以根据车辆的行驶速度、惯性等计算，即所述距离阈值为车辆从刹车到停止所行驶的距离。
优选地，步骤103中控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括步骤1031～步骤1033，如图21所示：
步骤1031、车辆控制器控制所述车辆从所述路卡位置自动驾驶到称重位置，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重；
步骤1032、车辆控制器控制所述车辆从所述称重位置自动驾驶到缴费位置，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费；
步骤1033、车辆控制器控制所述车辆从所述缴费位置自动驾驶到装卸货位置。
在一个示例中，所述步骤1031中，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重，具体包括步骤B1～步骤B2：
步骤B1、地秤传感器感应到停止在称重位置的所述车辆时，对所述车辆进行称重，并向所述车辆控制器发送称重结束信息；
步骤B2、车辆控制器在接收到所述称重结束信息时，控制车辆启动并驶离所述称重位置。
优选地，车辆控制器在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重，具体实现可如下：地秤传感器感应到停止在称重位置的所述车辆时，对所述车辆进行称重，并向所述车辆控制器发送称重结束信息；车辆控制器在接收到所述称重结束信息时，控制车辆启动并驶离所述称重位置。
优选地，前述方法还包括：地秤传感器获取所述车辆的车辆识别信息；将所述称重结果和所述车辆识别信息关联发送给缴费终端。
地秤传感器获取所述车辆的车辆识别信息，具体包括：地秤传感器识别所述车辆的车辆识别信息；或者，地秤传感器从所述车辆控制器接收车辆识别信息。
地秤传感器如何获取车辆的车辆识别信息，具体可参见前述方式，在此不再赘述。
在一个示例中，所述步骤1032中，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费，具体包括步骤C1～步骤C4：
步骤C1、缴费终端获取所述车辆的车辆识别信息；
步骤C2、缴费终端获取所述车辆识别信息对应的称重结果和行驶里程，并根据所述称重结果与行驶里程计算缴费金额；
步骤C3、缴费终端确定所述车辆控制器缴纳所述缴费金额后，向所述车辆控制器发送驶离指示信息；
步骤C4、车辆控制器在接收所述驶离指示信息时控制车辆启动并驶离所述缴费位置。
在一个实例中，所述方法还可进一步包括：缴费终端将所述缴费金额发送给所述车辆控制器；所述车辆控制器在接收到所述缴费金额时自动缴纳所述缴费金额。所述缴费终端确定所述车辆控制器缴纳所述缴费金额，具体包括：缴费终端在成功收取所述车辆控制器缴纳的缴费金额时，确定所述车辆控制器缴纳所述缴费金额。车辆控制器在接收到所述缴费金额时自动缴纳所述缴费金额，具体包括：车辆控制器调用第三方支付软件支付所述缴费金额；或者，车辆控制器控制车载摄像头扫描所述缴费终端对应的二维码，并调用第三方支付软件支付所述缴费金额。
另一个实例中，所述方法还包括：缴费终端进一步用于，将所述缴费金额记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC上扣除所述缴费金额。缴费终端确定所述车辆控制器缴纳所述缴费金额，具体包括：缴费终端在将所述缴费金额成功记 账在所述账单下或者成功从所述ETC上扣除所述缴费金额之后，确定车辆控制器缴纳所述缴费金额。
本发明实施例中，缴费终端根据称重结果和行驶里程计算缴费金额，具体可通过以下方式：缴费终端预先存储有道路收费标准，在该道路收费标准中记载有各道路针对不同类型、不同重量的车辆行驶1公里所要收取的费用；缴费终端根据获取的称重结果、车辆类型以及所行驶的道路，计算所述车辆行驶1公里需要缴纳的费用，再计算1公里缴纳的费用与行驶里程(以公里为单位)的乘积即可得到所述车辆需要缴纳的缴费金额。
缴费终端如何获取车辆的车辆识别信息，可参见前述方式，在此不再赘述。
优选地，在步骤1033中在装卸货位置与装卸货控制装置进行交互完成自动装卸货，具体包括步骤D1～步骤D2：
步骤D1、所述装卸货控制装置获取所述车辆的车辆识别信息，并对所述车辆识别信息进行验证，在验证通过时控制装卸货机器进行装卸货；在装卸货完成后向所述车辆控制器发送装卸货完成指示；
步骤D2、车辆控制器在接收到所述装卸货完成指示时，控制车辆驶离所述装卸货位置。
装卸货控制装置如何获取车辆的车辆识别信息可参见前述方式，在此不再赘述。
本发明实施例中，装卸货控制装置对所述车辆识别信息进行验证，可通过以下方式实现：装卸货控制装置中预先存储有车辆识别信息列表，装卸货控制装置将所述车辆识别信息与所述车辆识别信息列表进行匹配，若匹配成功则验证通过，否则验证不通过；或者，装卸货控制装置将所述车辆识别信息远程给服务器，从服务器接收验证是否通过的验证结果。
在一个实例中，所述车辆为集装箱货车时，所述装卸货机器为龙门吊、叉车或者吊车，装卸货控制装置控制装卸货机器进行装卸货，具体实现可如下：所述装卸货控制装置控制所述装卸货机器将与所述车辆识别信息对应的集装箱装载至所述车辆上；或者，控制所述装卸货机器将所述车辆上的集装箱卸下。在实例中，可预先在装卸货控制装置中存储有货运列表，在该货运列表中记载各个车辆的车辆识别信息与货运信息的对应关系，其中货运信息包括集装箱编号、集装箱所在位置以及装卸货位置等。当车辆装货时，装卸货控制装置从所述货运列表中获取所述车辆识别信息对应的集装箱编号、集装箱位置和装卸货位置，并向所述装卸货机器发送携带有集装箱编号、集装箱位置和装卸货位置的装货指令，以便装卸货机器人到所述集装箱位置，将与所述集装箱编号对应的集装箱装载到停止在所述装卸货位置的车辆上。当车辆卸货时，装卸货控制装置从所述货运列表中获取所述车辆识别信息对应的集装箱编号、集装箱位置和装卸货位置，并向所述装卸货机器发送携带有集装箱编号、集装箱位置和装卸货位置的卸货指令，以便装卸货机器人将所述装卸货位置的车辆上的集装箱卸下并放置在所述集装箱位置。
在另一个实例中，所述装卸货机器为机器人或者叉车，所述车辆为厢式货车，所述车辆的车厢厢门可电动控制打开和关闭，所述厢门下端设置有升降台，所述装卸货位置为目标仓库的库门前方，所述库门具有库台。车辆控制器进一步用于，控制车辆停止在装卸货位置之后控制车厢厢门自动打开，并控制升降台向下落至所述库台；以及，在接收到装卸货完成指示时，控制车厢厢门自动关闭并控制升降台收起。相应地，装卸货控制装置进一步用于，在验证通过时控制所述库门自动打开，并在所述装卸货机器装卸货完成时控制所述库门关闭。
在该另一实例中，所述库台、升降台和车厢地面铺设有磁钉或磁条，装卸货控制装置控制装卸货机器进行装卸货，具体包括：装卸货控制装置控制装卸货机器通过其磁导航传感器不间断的感应库台、升降台和车厢地面铺设的磁钉/磁条产生的磁信号按照预先设置的固定路线进行导航循迹，以实现装卸货。
在该另一实例中，在实例中，可预先在装卸货控制装置中存储有货运列表，在该货运列表中记载各个车辆的车辆识别信息与货运信息的对应关系，其中货运信息包括货物编号、货物所在位置、装卸货位置等。当车辆装货时，装卸货控制装置从所述货运列表中获取所述车辆识别信息对应的货物编号、货物所在位置、装卸货位置，并向所述装卸货机器发送携带有货物编号、货物所在位置、装卸货位置的装货指令，以便装卸货机器人到所述货物所在位置，将与所述货物编号对应的货物装载到停止在所述装卸货位置的车辆上。当车辆卸货时，装卸货控制装置从所述货运列表中获取所述车辆识别信息对应的货物编号、货物所在位置、装卸货位置，并向所述装卸货机器发送携带有货物编号、货物所在位置、装卸货位置的卸货指令，以便装卸货机器人将所述装卸货位置的车辆上的货物卸下并放置在所述货物所在位置。
优选地，由于车辆后方具有盲区，因此，为精确的控制车辆自动驾驶到装卸货位置，本发明实施例中，本发明实施例中所述装卸货控制装置还包含路测基站，该路测基站设置在装卸货附近，例如设置在道路边、路灯上、库门上、龙门吊上等。
在一个示例中，步骤103中车辆控制器控制车辆自动驾驶到所述装卸货位置，具体实现包括步骤E1～步骤E2：
步骤E1、车辆控制器从所述路测基站接收环境信息和路测基站所在位置，以及从所述车辆的车载传感器接收车辆所在位置；
步骤E2、车辆控制器根据车辆所在位置、路测基站所在位置和环境信息，控制车辆行驶并按照预置位姿停止在所述装卸货位置。
在一个示例中，步骤103中车辆控制器控制车辆自动驾驶到所述装卸货位置，具体实现如下：车辆控制器控制车载传感器将车辆所在位置发送给所述路测基站，并根据路测基站发送的行驶引导信息控制车辆行驶并按照预置的位姿停止在所述装卸货位置，其中所述行驶引导信息为路测基站根据车辆所在位置和路测基站所在位置生成的驾驶控制指令。
路测基站通过车辆控制器获取车辆运动学模型，根据该车辆运动学模型以及车辆当前位置、车辆当前姿态，计算车辆从当前位置到达指定位置的最佳轨迹；路测基站根据所述最佳轨迹、车辆当前姿态、车辆当前位置以及车辆运动学模型，计算车辆操舵角度及速度，并将操舵角度及速度发送给车辆控制器，以便车辆控制器根据该操舵角度及速度控制车辆驾驶并停止在装卸货位置。
预置位姿与车辆车厢门的位置有关系，当车厢厢门设置在车辆后方时，则预置位姿为车辆屁股正对库门；当车厢厢门设置在车辆侧面时，则预置位姿为车辆的侧面正对库门。
优选地，在前述图20和图21所示的流程还可以进一步包括以下步骤104～步骤105，如图22所示为在图20所示的方法流程中还包括步骤104～步骤105，图23为在图21所示的方法流程中还进一步包括步骤104～步骤105，其中：
步骤104、车辆控制器控制所述车辆从自动装卸货位置行驶到称重位置，并与称重位置对应的地秤传感器进行交互完成自动称重；
步骤105、控制所述车辆从称重位置行驶到燃料补充位置，并与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料。
在一个示例中，所述步骤105中，与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料，具体实现如下：车辆控制器向所述燃料补充终端发送携带燃料量的补充指令；以及，在接收到燃料补充终端发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置；燃料补充终端根据所述补充指令自动向所述车辆的燃料箱补充相应燃料量的燃料；以及，在确定所述车辆控制器缴纳所述燃料费后，向车辆控制器发送燃料补充完成指示。
在一个实例中，步骤105进一步包括：根据车辆的重量和运输计划中的燃料补充策略计算需要补充的燃料量；所述补充指令中携带有所述燃料量。
在一个实例中，所述燃料补充终端进一步用于，获取所述车辆的车辆识别信息，并获取与所述车辆识别信息对应的重量和燃料补充策略，根据所述重量和运输计划中的燃料补充策略计算需要补充的燃料量。
在一个实例中，步骤105还包括：燃料补充终端计算所述燃料量对应的燃料费，并将所述燃料费发送给所述车辆控制器；车辆控制器在接收到所述燃料费时自动缴纳所述燃料费；燃料补充终端在成功收取所述车辆控制器缴纳的燃料费时确定所述车辆控制器缴纳所述燃料费。
车辆控制器在接收到所述燃料费时自动缴纳所述燃料费，具体包括：车辆控制器将燃料充值卡放置燃料补充终端的刷卡位置进行刷卡；或者，车辆控制器控制车载摄像头扫描所述燃料补充终端对应的二维码，并调用第三方支付软件支付所述燃料费。
在另一个实例中，步骤105还包括：燃料补充终端计算所述燃料量对应的燃料费，并将所述燃料费记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC或燃料充值卡上扣除所述燃料费；燃料补充终端在成功将燃料费记账或者成功从对应ETC/燃料充值卡上扣除燃料费时，确定所述车辆控制器缴纳所述燃料费。
本发明实施例中，燃料可包括以下几种类型：可燃制剂(例如汽油、柴油、乙醇等)、可燃气体(沼气、天然气等)、燃料电池等，本申请不做严格限定。
优选地，在前述图20～图23所示的方法流程中，还可进一步包括以下步骤106，如图24所示为在图23所示的流程中还包括步骤106，其中：
步骤106、车辆控制器获取车辆自检数据，根据所述车辆自检数据确定车辆发生故障时控制车辆自动驾驶并停止在检修位置，并与所述检修位置对应的检修装置进行交互完成自动检修。
本发明实施例中，车辆控制器获取车辆自检数据，具体可通过但不仅限于以下任意一种方式：车辆控制器向车辆自检系统获取监测数据；或者，车辆控制器从车辆自检系统接收监测数据。
本发明实施例中，监测数据包含车辆中各个部件的自检数据，例如胎压异常报警信息、TCU异常报警信息、电压异常报警信息、ABS异常报警信息、刹车异常报警信息等。
本发明实施例中，若监测数据中包含部件的报警信息则确认相应的部件发生故障。
车辆控制器与所述检修位置对应的检修装置进行交互完成自动检修，具体包括：车辆控制器向所述检修装置发送车辆诊断信息；检修装置根据所述车辆诊断信息确定相应的维修建议，并将所述维修建议发送给所述车辆控制器。
本发明实施例中，车辆控制器通过CAN总线，从OBD获取车辆诊断信息，并将所述车辆诊断信息发送给所述检修装置。
本发明实施例中，检修装置根据所述车辆诊断信息确定相应的维修建议具体可通过但不仅限于以下任意一种方式：检修装置根据所述车辆诊断信息，从预存的车辆诊断信息和维修建议的对应关系中，获取对应的维修建议；或者，检修装置将所述车辆诊断信息远程给服务器，从所述服务器接收所述车辆诊断信息对应的维修建议；或者，检修装置在维修界面显示包含所述车辆诊断信息的建议请求，并根据维修人员在所述维修界面针对所述建议请求所回复的内容，生成所述车辆诊断信息对应的维修建议。
本发明实施例中，车辆控制器控制车辆驾驶并停止在检修位置，具体包括：车辆控制器通过安装在车辆控制器中的地图软件或导航软件，规划从当前位置到选取的检修位置的行驶路线；车辆控制器控制所述车辆沿着所述行驶路线驾驶并停止在所述检修位置。
本发明实施例中，选取的检修装置可以为距离车辆当前位置最近的检修位置。
本发明实施例中，可以通过车辆控制器主动将车辆识别信息发送给检修装置，也可以是检修装置主动识别所述车辆的车辆识别信息。检修装置识别车辆识别信息的方式可参见前述路卡控制器识别车辆识别信息的方式，在此不再赘述。
本发明实施例中，维修建议可以包括但不仅限于以下一种或多种：无需修车、目标公路港内修车、呼叫救援、需要去维修店/4S店进行小修、需要去维修店/4S店进行大修等。当维修建议为去维修店/4S店进行小修/大修时，车辆控制器12通过电子地图查询距离目标公路港最近的维修店或4S店，并控制车辆从所述检修位置行驶到目标公路港出口位置以及控制车辆从出口位置驾驶到最近的维修店或4S店。
优选地，在前述方法流程中，车辆控制器在完成自动装卸货之后，还包括以下步骤：车辆控制器控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港。
在一个实例中，车辆控制器控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港，具体包括：车辆控制器规划从装卸货位置到出口位置之间的行驶路线，并控制车辆沿着所述行驶路线从所述装卸货位置自动驾驶到所述出口位置。
在另一个实例中，车辆控制器控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港，具体包括：控制车辆从装卸货位置自动驾驶到称重位置进行自动称重，控制车辆从称重位置自动驾驶到缴费位置进行自动缴费，以及控制车辆从缴费位置自动驾驶到出口位置。
在一个示例中，由运营系统直接管理所有公路港内部的所有终端设备，即运营系统可直接与各公路港内部所有终端设备进行交互。此时，运营系统获取车辆执行所述运输计划的运输计划执行进度，具体包括：从所述运输计划中目标公路港的终端设备接收所述车辆执行所述运输计划的任务执行信息，并根据所述任务执行信息生成运输计划执行进度；其中，所述运输计划执行进度为所述控制单元根据任务执行信息标记所述运输任务单中的已完成任务和未完成任务后得到。
预先为每个公路港设置对应的一个公路港控制系统，或者预先为所各公路港设置对应的一个公路港控制系统，由公路港控制系统管理其所管辖的公路港内部的所有终端设备。运营系统管理各公路港控制系统。此时，运营系统获取车辆执行所述运输计划的运输计划执行进度，具体包括：根据车辆的运输计划生成运输任务单，并将所述运输任务单与车辆的车辆识别信息关联发送给运输计划中目标公路港对应的公路港控制系统；以及，从目标公路港控制系统接收所述车辆的运输计划执行进度；其中，所述运输计划执行进度为所述公路港控制系统根据目标公路港内部的终端设备发送的任务执行信息标记所述运输任务单中的已完成任务 和未完成任务后得到。
本发明实施例中，公路港内部包含的终端设备包含以下一种或多种：路卡控制器、地秤传感器、缴费终端、装卸货控制装置、燃料补充终端和检修装置等。所述路卡控制器发送的任务执行信息为所述车辆是否已过卡；所述地秤传感器发送的任务执行信息为所述车辆是否已称重；所述缴费终端发送的任务执行信息为所述车辆是否已缴费；所述装卸货控制装置发送的任务执行信息为车辆是否已装卸货；燃料补充终端发送的任务执行信息为车辆是否已补充燃料；检修装置发送的任务执行信息为车辆是否已自动检修。
本发明实施例提供的实现自动运输的系统和方法，一方面，由运营系统管理和调度各个车辆，为各车辆制定运输计划，并将运输计划同步给相应车辆的车辆控制器，无需配备管理人员即可实现车辆管理和调度；另一方面，由车辆控制器控制车辆执行所述运输计划，以完成货物自动运输，无需配备货车司机即可实现货物运输；再一方面，通过车辆控制器控制车辆驾驶，不存在司机疲劳驾驶、酒驾、毒驾等问题，提高驾驶安全性。因此，本发明技术方案，不仅降低了货物运输的成本，而且还降低了车辆驾驶过程中的安全隐患。
以上结合具体实施例描述了本发明的基本原理，但是，需要指出的是，对本领域普通技术人员而言，能够理解本发明的方法和装置的全部或者任何步骤或者部件可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件固件、软件或者他们的组合加以实现，这是本领域普通技术人员在阅读了本发明的说明的情况下运用它们的基本编程技能就能实现的。
本领域普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/ 或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的上述实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括上述实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (62)

  1. 一种实现车辆自动运输的系统，其特征在于，包括运营系统、车辆的车辆控制器，其中：
    运营系统，用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；
    车辆控制器，用于根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
  2. 根据权利要求1所述的系统，其特征在于，与所述路卡位置对应的路卡控制器进行交互完成自动过卡，具体包括：
    路卡控制器获取所述车辆的车辆识别信息，并对所述车辆识别信息进行身份验证，在验证通过时控制路卡放行；
    车辆控制器在确定所述路卡放行时，控制车辆启动并通过所述路卡位置。
  3. 根据权利要求2所述的系统，其特征在于，路卡控制器获取所述车辆的车辆识别信息，具体包括：
    路卡控制器识别所述车辆的车辆识别信息；
    或者，路卡控制器从所述车辆控制器接收所述车辆的车辆识别信息。
  4. 根据权利要求3所述的系统，其特征在于，所述路卡控制器识别所述车辆的车辆识别信息，具体包括：
    路卡控制器控制传感器拍摄所述车辆，对拍摄得到的图像进行图像识别处理，得到所述车辆的车辆识别信息；
    或者，路卡控制器控制传感器扫描所述车辆上的二维码或条形码，以得到所述车辆的车辆识别信息。
  5. 根据权利要求2所述的系统，其特征在于，车辆控制器确定所述路卡放行，具体包括：
    车辆控制器在接收到所述路卡控制器发送的允许通行指示时，确定所述路卡放行；
    或者，车辆控制器通过车载传感器检测所述路卡是否放行，在检测放行时确定所述路卡放行。
  6. 根据权利要求5所述的系统，其特征在于，车辆控制器通过车载传感器检测所述路卡是否放行，具体包括：
    车辆控制器根据车载传感器发送的图像或点云数据判断所述路卡为放行状态时，则确定所述路卡放行。
  7. 根据权利要求2～6任一项所述的系统，其特征在于，路卡控制器进一步用于，在验证 不通过时，向所述车辆控制器发送不允许通行并指示所述车辆从疏导道路离开所述路卡位置的第一指示信息；
    车辆控制器进一步用于，在接收到所述第一指示信息时，控制所述车辆启动并驶离所述路卡位置。
  8. 根据权利要求2～6任一项所述的系统，其特征在于，所述路卡位置设置为可转动的转盘，路卡控制器进一步用于：
    路卡控制器在验证不通过时，向所述车辆控制器发送不允许通行的第二指示信息，并转动所述转盘以使所述车辆的车头朝向驶离所述路卡位置的方向；
    车辆控制器进一步用于，在接收到所述第二指示信息时，控制车辆启动并驶离所述路卡位置。
  9. 根据权利要求1所述的系统，其特征在于，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括：
    车辆控制器控制所述车辆从所述路卡位置自动驾驶到称重位置，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重；
    车辆控制器控制所述车辆从所述称重位置自动驾驶到缴费位置，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费；
    车辆控制器控制所述车辆从所述缴费位置自动驾驶到所述装卸货位置。
  10. 根据权利要求9所述的系统，其特征在于，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重，具体包括：
    地秤传感器感应到停止在称重位置的所述车辆时，对所述车辆进行称重，并向所述车辆控制器发送称重结束信息；
    车辆控制器在接收到所述称重结束信息时，控制车辆启动并驶离所述称重位置。
  11. 根据权利要求10所述的系统，其特征在于，地秤传感器进一步用于：获取所述车辆的车辆识别信息，并将所述称重结果和所述车辆识别信息关联发送给缴费终端。
  12. 根据权利要求11所述的系统，其特征在于，地秤传感器获取所述车辆的车辆识别信息，具体包括：
    地秤传感器识别所述车辆的车辆识别信息；
    或者，地秤传感器从所述车辆控制器接收车辆识别信息。
  13. 根据权利要求9所述的系统，其特征在于，与缴费位置对应的缴费终端进行交互完成自动缴费，具体包括：
    缴费终端获取所述车辆的车辆识别信息；
    缴费终端获取所述车辆识别信息对应的称重结果和行驶里程，并根据所述称重结果与行 驶里程计算缴费金额；
    缴费终端确定所述车辆控制器缴纳所述缴费金额后，向所述车辆控制器发送驶离指示信息；
    车辆控制器在接收所述驶离指示信息时控制车辆启动并驶离所述缴费位置。
  14. 根据权利要求13所述的系统，其特征在于，缴费终端进一步用于，将所述缴费金额发送给所述车辆控制器；
    所述车辆控制器进一步用于，在接收到所述缴费金额时自动缴纳所述缴费金额；
    所述缴费终端确定所述车辆控制器缴纳所述缴费金额，具体包括：缴费终端在成功收取所述车辆控制器缴纳的缴费金额时，确定所述车辆控制器缴纳所述缴费金额。
  15. 根据权利要求14所述的系统，其特征在于，车辆控制器在接收到所述缴费金额时自动缴纳所述缴费金额，具体包括：
    车辆控制器调用第三方支付软件支付所述缴费金额；
    或者，车辆控制器控制车载摄像头扫描所述缴费终端对应的二维码，并调用第三方支付软件支付所述缴费金额。
  16. 根据权利要求13所述的系统，其特征在于，缴费终端进一步用于，将所述缴费金额记账在与所述车辆识别信息对应的账单下或者从所述车辆识别信息对应的ETC上扣除所述缴费金额；
    缴费终端确定所述车辆控制器缴纳所述缴费金额，具体包括：缴费终端在将所述缴费金额成功记账在所述账单下或者成功从所述ETC上扣除所述缴费金额之后，确定车辆控制器缴纳所述缴费金额。
  17. 根据权利要求13所述的系统，其特征在于，所述缴费终端获取所述车辆的车辆识别信息，具体包括：
    缴费终端识别所述车辆的车辆识别信息；
    或者，从所述车辆控制器接收所述车辆的车辆识别信息。
  18. 根据权利要求17所述的系统，其特征在于，缴费终端识别所述车辆的车辆识别信息，具体包括：
    缴费终端控制传感器拍摄所述车辆，对拍摄得到的图像进行图像识别处理，得到所述车辆的车辆识别信息；
    或者，缴费终端控制传感器扫描所述车辆上的二维码或条形码，以得到所述车辆的车辆识别信息。
  19. 根据权利要求1所述的系统，其特征在于，在装卸货位置与装卸货控制装置进行交互完成自动装卸货，具体包括：
    所述装卸货控制装置获取所述车辆的车辆识别信息，并对所述车辆识别信息进行验证，在验证通过时控制装卸货机器进行装卸货；在装卸货完成后向所述车辆控制器发送装卸货完成指示；
    车辆控制器在接收到所述装卸货完成指示时，控制车辆驶离所述装卸货位置。
  20. 根据权利要求19所述的系统，其特征在于，所述车辆为集装箱车辆，装卸货控制装置在验证通过时控制装卸货机器进行装卸货，具体包括：
    装卸货控制装置控制所述装卸货机器将与所述车辆识别信息对应的集装箱装载至所述车辆上；
    或者，装卸货控制装置控制所述装卸货机器将所述车辆上的集装箱卸下。
  21. 根据权利要求20所述的系统，其特征在于，所述装卸货机器为龙门吊、叉车或者吊车。
  22. 根据权利要求19所述的系统，其特征在于，所述车辆为厢式车辆，所述车辆的车厢厢门可电动控制打开和关闭，所述厢门下端设置有升降台，所述装卸货位置为目标仓库的库门前方，所述库门具有库台；
    车辆控制器进一步用于，控制车辆停止在装卸货位置之后控制车厢厢门自动打开，并控制升降台向下落至所述库台；以及，在接收到装卸货完成指示时，控制车厢厢门自动关闭并控制升降台收起；
    装卸货控制装置进一步用于，在验证通过时控制所述库门自动打开，并在所述装卸货机器装卸货完成时控制所述库门关闭。
  23. 根据权利要求22所述的系统，其特征在于，所述库台、升降台和车厢地面铺设有磁钉或磁条，装卸货控制装置控制装卸货机器进行装卸货，具体包括：
    装卸货控制装置控制装卸货机器通过其磁导航传感器不间断的感应库台、升降台和车厢地面铺设的磁钉/磁条产生的磁信号按照预先设置的固定路线进行导航循迹，以实现装卸货。
  24. 根据权利要求22所述的系统，其特征在于，所述装卸货机器为机器人或者叉车。
  25. 根据权利要求1所述的系统，其特征在于，所述装卸货控制装置包含路测基站，车辆控制器控制车辆自动驾驶到装卸货位置，具体包括：
    车辆控制器从所述路测基站接收环境信息和路测基站所在位置，以及从所述车辆的车载传感器接收车辆所在位置；
    车辆控制器根据车辆所在位置、路测基站所在位置和环境信息，控制车辆行驶并按照预置位姿停止在所述装卸货位置。
  26. 根据权利要求1所述的系统，其特征在于，所述装卸货控制装置包含路测基站，车辆控制器控制车辆自动驾驶到装卸货位置，具体包括：
    车辆控制器控制车载传感器将车辆所在位置发送给所述路测基站，并根据路测基站发送的行驶引导信息控制车辆行驶并按照预置的位姿停止在所述装卸货位置，其中所述行驶引导信息为路测基站根据车辆所在位置和路测基站所在位置生成的驾驶控制指令。
  27. 根据权利要求1或9所述的系统，其特征在于，所述车辆控制器进一步用于：
    在完成自动装卸货之后，控制所述车辆从自动装卸货位置行驶到称重位置，并与称重位置对应的地秤传感器进行交互完成自动称重；
    控制所述车辆从称重位置行驶到燃料补充位置，并与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料。
  28. 根据权利要求27所述的系统，其特征在于，与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料，具体包括：
    车辆控制器向所述燃料补充终端发送携带燃料量的补充指令；以及，在接收到燃料补充终端发送的燃料补充完成指示时控制所述车辆启动并驶离所述燃料补充位置；
    燃料补充终端根据所述补充指令自动向所述车辆的燃料箱补充相应燃料量的燃料；以及，在确定所述车辆控制器缴纳燃料费后，向车辆控制器发送燃料补充完成指示。
  29. 根据权利要求28所述的系统，其特征在于，所述车辆控制器进一步用于，根据车辆的重量和运输计划中的燃料补充策略计算需要补充的燃料量；所述补充指令中携带有所述燃料量。
  30. 根据权利要求28所述的系统，其特征在于，所述燃料补充终端进一步用于，获取所述车辆的车辆识别信息，并获取与所述车辆识别信息对应的重量和燃料补充策略，根据所述重量和运输计划中的燃料补充策略计算需要补充的燃料量。
  31. 根据权利要求28所述的系统，其特征在于，所述燃料补充终端进一步用于，计算所述燃料量对应的燃料费，并将所述燃料费发送给所述车辆控制器；以及，在成功收取所述车辆控制器缴纳的燃料费时确定所述车辆控制器缴纳所述燃料费；
    所述车辆控制器进一步用于，在接收到所述燃料费时自动缴纳所述燃料费。
  32. 根据权利要求31所述的系统，其特征在于，车辆控制器在接收到燃料费时自动缴纳燃料费，具体包括：
    车辆控制器将燃料充值卡放置燃料补充终端的刷卡位置进行刷卡；
    或者，车辆控制器控制车载摄像头扫描所述燃料补充终端对应的二维码，并调用第三方支付软件支付所述燃料费。
  33. 根据权利要求28所述的系统，其特征在于，燃料补充终端进一步用于：计算所述燃料量对应的燃料费，并将所述燃料费记账在与所述车辆识别信息对应的账单下，或者从所述车辆识别信息对应的ETC或燃料充值卡上扣除所述燃料费；
    燃料补充终端在成功将燃料费记账或者成功从对应ETC/燃料充值卡上扣除燃料费时，确定所述车辆控制器缴纳所述燃料费。
  34. 根据权利要求1或9所述的系统，其特征在于，所述车辆控制器进一步用于：
    获取车辆自检数据；
    根据所述车辆自检数据确定车辆发生故障时，控制车辆自动驾驶并停止在检修位置；并与所述检修位置对应的检修装置进行交互完成自动检修。
  35. 根据权利要求34所述的系统，其特征在于，车辆控制器与所述检修位置对应的检修装置进行交互完成自动检修，具体包括：
    车辆控制器向所述检修装置发送车辆诊断信息；
    检修装置根据所述车辆诊断信息确定相应的维修建议，并将所述维修建议发送给所述车辆控制器。
  36. 根据权利要求35所述的系统，其特征在于，检修装置根据所述车辆诊断信息确定相应的维修建议，具体包括：
    检修装置根据所述车辆诊断信息，从预存的车辆诊断信息和维修建议的对应关系中，获取对应的维修建议；
    或者，检修装置将所述车辆诊断信息远程给服务器，从所述服务器接收所述车辆诊断信息对应的维修建议；
    或者，检修装置在维修界面显示包含所述车辆诊断信息的建议请求，并根据维修人员在所述维修界面针对所述建议请求所回复的内容，生成所述车辆诊断信息对应的维修建议。
  37. 根据权利要求1或9所述的系统，其特征在于，所述车辆控制器进一步用于：
    在完成自动装卸货之后，控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港。
  38. 根据权利要求1所述的系统，其特征在于，还包括：
    公路港控制系统，用于管理相应公路港内部的终端设备；从所述终端设备接收车辆的任务执行信息，并根据所述任务执行信息生成所述车辆的运输计划执行进度；将所述运输计划执行进度发送给所述运营系统。
  39. 根据权利要求38所述的系统，其特征在于，所述运营系统进一步用于：根据车辆的运输计划生成运输任务单，并将所述运输任务单与车辆的车辆识别信息关联发送给运输计划中目标公路港对应的公路港控制系统；
    公路港控制系统根据所述任务执行信息生成所述车辆的运输计划执行进度，具体包括：根据终端设备反馈的任务执行信息确定运输任务单中的已完成任务和未完成任务，以得到所述车辆的运输计划执行进度。
  40. 根据权利要求39所述的系统，其特征在于，所述运营系统进一步用于：根据所述公路港控制系统发送的车辆的运输计划执行进度，调整所述车辆的运输计划，并将调整后的运输计划发送给所述车辆的车辆控制器。
  41. 根据权利要求1所述的系统，其特征在于，所述运营系统进一步用于，管理各公路港内部的终端设备；从所述目标公路港中的终端设备接收车辆的任务执行信息，并根据所述任务执行信息调整所述车辆的运输计划；将调整后的运输计划发送给所述车辆的车辆控制器。
  42. 一种车辆控制器，其特征在于，包括：
    通信单元，用于收发信息；
    控制单元，用于根据通信单元接收到的运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
  43. 根据权利要求42所述的车辆控制器，其特征在于，控制单元控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括：
    控制所述车辆从所述路卡位置自动驾驶到称重位置，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重；
    控制所述车辆从所述称重位置自动驾驶到缴费位置，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费；
    控制所述车辆从所述缴费位置自动驾驶到装卸货位置。
  44. 根据权利要求42或43所述的车辆控制器，其特征在于，控制单元进一步用于：
    在完成自动装卸货之后，控制所述车辆从自动装卸货位置行驶到称重位置，并与称重位置对应的地秤传感器进行交互完成自动称重；
    控制所述车辆从称重位置行驶到燃料补充位置，并与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料。
  45. 根据权利要求42所述的车辆控制器，其特征在于，控制单元进一步用于：获取车辆自检数据，根据所述车辆自检数据确定车辆发生故障时，控制车辆自动驾驶并停止在检修位置；并与所述检修位置对应的检修装置进行交互完成自动检修。
  46. 根据权利要求42或43所述的车辆控制器，其特征在于，控制单元进一步用于：
    在完成自动装卸货之后，控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港。
  47. 一种运营系统，其特征在于，包括：
    车辆调度单元，用于为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控 制器；以及，根据所述车辆的运输计划执行进度调整所述车辆的运输计划；
    控制单元，用于获取车辆执行所述运输计划的运输计划执行进度，并将所述运输计划执行进度发送给所述车辆调度单元。
  48. 根据权利要求47所述的运营系统，其特征在于，所述控制单元管理各公路港内部的终端设备；
    控制单元获取车辆执行所述运输计划的运输计划执行进度，具体包括：通过所述通信单元从公路港内部的终端设备接收车辆执行运输计划的任务执行信息，并根据所述任务执行信息生成运输计划执行进度。
  49. 根据权利要求47所述的运营系统，其特征在于，所述控制单元管理各公路港对应的公路港控制系统；
    控制单元进一步用于，根据车辆的运输计划生成运输任务单，并将所述运输任务单与车辆的车辆识别信息关联发送给运输计划中目标公路港对应的公路港控制系统；
    控制单元获取车辆执行所述运输计划的运输计划执行进度，具体包括：从目标公路港控制系统接收所述车辆的运输计划执行进度。
  50. 一种实现车辆自动运输的方法，其特征在于，包括：
    运营系统为车辆制定运输计划，并将所述运输计划发送给所述车辆的车辆控制器；
    车辆控制器根据运输计划，控制车辆自动驾驶到目标公路港入口的路卡位置，与所述路卡位置对应的路卡控制器进行交互完成自动过卡；以及，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，并在装卸货位置与装卸货控制装置进行交互完成自动装卸货。
  51. 根据权利要求50所述的方法，其特征在于，与所述路卡位置对应的路卡控制器进行交互完成自动过卡，具体包括：
    路卡控制器获取所述车辆的车辆识别信息，并对所述车辆识别信息进行身份验证，在验证通过时控制路卡放行；
    车辆控制器在确定所述路卡放行时，控制车辆启动并通过所述路卡位置。
  52. 根据权利要求51所述的方法，其特征在于，控制所述车辆从所述路卡位置自动驾驶到目标公路港中指定装卸货位置，具体包括：
    车辆控制器控制所述车辆从所述路卡位置自动驾驶到称重位置，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重；
    车辆控制器控制所述车辆从所述称重位置自动驾驶到缴费位置，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费；
    车辆控制器控制所述车辆从所述缴费位置自动驾驶到装卸货位置。
  53. 根据权利要求52所述的方法，其特征在于，在称重位置与该称重位置对应的地秤传感器进行交互完成自动称重，具体包括：
    地秤传感器感应到停止在称重位置的所述车辆时，对所述车辆进行称重，并向所述车辆控制器发送称重结束信息；
    车辆控制器在接收到所述称重结束信息时，控制车辆启动并驶离所述称重位置。
  54. 根据权利要求52所述的方法，其特征在于，在缴费位置与该缴费位置对应的缴费终端进行交互完成自动缴费，具体包括：
    缴费终端获取所述车辆的车辆识别信息；
    缴费终端获取所述车辆识别信息对应的称重结果和行驶里程，并根据所述称重结果与行驶里程计算缴费金额；
    缴费终端确定所述车辆控制器缴纳所述缴费金额后，向所述车辆控制器发送驶离指示信息；
    车辆控制器在接收所述驶离指示信息时控制车辆启动并驶离所述缴费位置。
  55. 根据权利要求50或52所述的方法，其特征在于，在装卸货位置与装卸货控制装置进行交互完成自动装卸货，具体包括：
    所述装卸货控制装置获取所述车辆的车辆识别信息，并对所述车辆识别信息进行验证，在验证通过时控制装卸货机器进行装卸货；在装卸货完成后向所述车辆控制器发送装卸货完成指示；
    车辆控制器在接收到所述装卸货完成指示时，控制车辆驶离所述装卸货位置。
  56. 根据权利要求55所述的方法，其特征在于，所述装卸货控制装置包含路测基站，车辆控制器控制车辆自动驾驶到所述装卸货位置，具体包括：
    车辆控制器从所述路测基站接收环境信息和路测基站所在位置，以及从所述车辆的车载传感器接收车辆所在位置；
    车辆控制器根据车辆所在位置、路测基站所在位置和环境信息，控制车辆行驶并按照预置位姿停止在所述装卸货位置。
  57. 根据权利要求55所述的方法，其特征在于，所述装卸货控制装置包含路测基站，车辆控制器控制车辆自动驾驶到所述装卸货位置，具体包括：
    车辆控制器控制车载传感器将车辆所在位置发送给所述路测基站，并根据路测基站发送的行驶引导信息控制车辆行驶并按照预置的位姿停止在所述装卸货位置，其中所述行驶引导信息为路测基站根据车辆所在位置和路测基站所在位置生成的驾驶控制指令。
  58. 根据权利要求50或52所述的方法，其特征在于，车辆控制器在完成自动装卸货之后，还包括：
    车辆控制器控制所述车辆从自动装卸货位置行驶到称重位置，并与称重位置对应的地秤传感器进行交互完成自动称重；
    控制所述车辆从称重位置行驶到燃料补充位置，并与所述燃料补充位置对应的燃料补充终端进行交互完成自动补充燃料。
  59. 根据权利要求50或52所述的方法，其特征在于，所述方法还包括：
    车辆控制器获取车辆自检数据，根据所述车辆自检数据确定车辆发生故障时控制车辆自动驾驶并停止在检修位置，并与所述检修位置对应的检修装置进行交互完成自动检修。
  60. 根据权利要求50所述的方法，其特征在于，还包括：
    车辆控制器在完成自动装卸货之后，控制所述车辆从装卸货位置自动驾驶到目标公路港的出口位置，驶离所述目标公路港。
  61. 根据权利要求50所述的方法，其特征在于，还包括：
    运营系统根据所述车辆的运输计划生成运输任务单，并将所述运输任务单与车辆的车辆识别信息关联发送给运输计划中目标公路港对应的公路港控制系统；
    所述公路港控制系统从目标公路港内部的终端设备接收所述车辆的任务执行信息，并根据所述任务执行信息生成所述车辆的运输计划执行进度；将所述运输计划执行进度发送给所述运营系统；
    运营系统根据所述运输计划执行进度调整所述车辆的运输计划，并将调整后的运输计划发送给所述车辆的车辆控制器。
  62. 根据权利要求50所述的方法，其特征在于，还包括：
    运营系统从所述目标公路港中的终端设备接收车辆的任务执行信息，并根据所述任务执行信息调整所述车辆的运输计划；将调整后的运输计划发送给所述车辆的车辆控制器。
PCT/CN2017/102034 2017-07-21 2017-09-18 一种实现车辆自动运输的系统及方法、相关设备 Ceased WO2019015066A1 (zh)

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