The invention discloses an underground vehicle scheduling method, device and equipment and a storage medium, and the method comprises the steps: extracting key points of an actual map, and connecting the key points through logic segments to construct a virtual logic map, the key points including a vehicle meeting point, a feeding point, a discharging point and an annular region causing vehicle meeting; establishing a logic path occupation table based on the virtual logic map; and according to the logic path occupation table, judging results of whether the logic path on which the automatic driving vehicle is going to run is occupied, whether the vehicle occupying the path and the automatic driving vehicle are in the same direction, and whether the automatic driving vehicle is in a non-loading state are inquired, and vehicle meeting coordinated scheduling is carried out. According to the method and the system, the automatic driving vehicles can coordinate and meet in a one-way road environment, so that blockage and loading are effectively avoided, and meanwhile, the method and the system are high in adaptability to different scenes, low in cost and high in coordination efficiency.

    本发明公开了一种井下车辆的调度方法、装置、设备及存储介质,其中该方法包括步骤:提取实际地图的关键点,并通过逻辑段连接关键点构建虚拟逻辑地图,其中所述关键点包括:会车点、上料点、下料点和导致会车的环形区域;基于所述虚拟逻辑地图,建立逻辑路径占用表;根据所述逻辑路径占用表查询自动驾驶车辆将要行驶的逻辑路径是否被占用、占用路径的车辆与所述自动驾驶车辆是否同向,以及自动驾驶车辆是否为非装载状态的判断结果,进行会车协调调度。本申请能够使得自动驾驶车辆在进行单行道环境下相互协调会车,进而有效避免堵塞和装车,同时对不同的场景适应性强,成本低且协调效率高。


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    Title :

    Underground vehicle scheduling method, device and equipment and storage medium


    Additional title:

    一种井下车辆的调度方法、装置、设备及存储介质


    Contributors:
    YANG CHUN (author) / HE KAI (author) / YAN MINGHUI (author) / LIU JINGSONG (author) / SUN QUAN (author)

    Publication date :

    2023-11-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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