A Simulation-Based Optimization Framework for Collaborative Scheduling of Autonomous and Human-Driven Trucks in Mixed-Traffic Container Terminal Environments

To address the efficiency and safety challenges arising from the mixed operation of autonomous and human-driven container trucks during the automation transformation of traditional container terminals, this study designed a simulation-based optimization framework for mixed vehicle scheduling. A spatio-temporal graph dynamic scheduling model was constructed, incorporating node capacity, arc capacity, and path constraints, to establish a multi-objective optimization model aimed at minimizing the maximum completion time of internal trucks and the average waiting time of external trucks. An improved NSGA-II algorithm was employed to generate task assignment solutions, which were evaluated using discrete-event simulation, integrating a dynamic programming-based yard block selection strategy for external trucks and a congestion-aware path planning algorithm. Experimental results demonstrate that the dynamic priority strategy effectively adapts to different traffic flow scenarios: under low external truck flow, the autonomous internal truck priority strategy reduces task completion time by 18% to 25%, while under high flow, the external truck priority strategy significantly decreases the average waiting time. The optimal configuration ratio between internal and external trucks was identified as approximately 1:2. This research provides a theoretical basis and decision support for enhancing terminal operational efficiency and automation transformation.