A control method and system for rapid vehicle docking

Abstract

The present invention belongs to the technical field of automobile or precision docking, and provides a control method and system for rapid docking of vehicles, including: obtaining a laser beam emitted from a first vehicle, and determining a parking space marking frame by means of the laser beam; controlling a second vehicle to enter the parking space marking frame, and judging the distance between the second vehicle and the first vehicle; when the distance between the second vehicle and the first vehicle reaches a first preset value, obtaining an infrared beam emitted from the first vehicle, and judging whether the infrared beam is irradiated at a preset position; otherwise, continuing to control the second vehicle to approach the first vehicle in the parking space marking frame; if the infrared beam is irradiated at a preset position, and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving, and controls the first vehicle and the second vehicle to dock; the present invention can realize accurate measurement of the distance and position status between vehicles, and assist vehicles to complete automatic and precise docking without repeated adjustments and without the need for command by ground personnel.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobiles or other equipment that need to be precisely docked and combined to work together, and in particular, relates to a control method and system for rapid docking of vehicles. Background Art

[0002] Vehicle docking refers to a technology in which one or more moving vehicles move toward a stationary vehicle based on a stationary vehicle and rely on other docking devices or docking heads to complete the connection.

[0003] The inventors have found that currently the docking of two or more vehicles mainly relies on manual on-site command through an intercom, or through auxiliary driving equipment, namely reversing images and reversing radars. These auxiliary equipment are used for docking. Especially under conditions of limited space, these methods alone cannot meet the requirements of vehicle or special equipment docking work with very high docking accuracy requirements; especially for occasions with relatively harsh working environments, the docking method relying on personnel command is extremely ineffective and inefficient. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a control method and system for rapid vehicle docking, which can accurately measure the distance and position status between vehicles, and assist vehicles to complete automatic and precise docking without repeated adjustments and without the need for ground personnel to command.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a control method for rapid docking of vehicles, comprising:

[0007] Acquire a laser beam emitted from the first vehicle, and determine a parking space marking frame by using the laser beam;

[0008] Controlling a second vehicle to enter the parking space marking frame, and determining the distance between the second vehicle and the first vehicle;

[0009] When the distance between the second vehicle and the first vehicle reaches a first preset value, the infrared beam emitted by the first vehicle is obtained, and it is determined whether the infrared beam is irradiated at a preset position; otherwise, the second vehicle is continuously controlled to approach the first vehicle in the parking space mark frame;

[0010] If the infrared beam is irradiated at a preset position and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving, and the first vehicle and the second vehicle are controlled to dock.

[0011] Furthermore, the first vehicle is a stationary vehicle, and the laser beam is emitted by a laser ruler installed on the first vehicle.

[0012] Furthermore, the laser beam includes at least two mutually parallel laser beams, and two adjacent laser beams constitute a parking space marking frame.

[0013] Furthermore, the distance between the second vehicle and the first vehicle is determined by laser ranging technology.

[0014] Furthermore, the infrared beam includes multiple beams, and the multiple beams are irradiated on the receiving matrix area; the area in the receiving matrix area that has not received the infrared signal displays the first color, and the area that has received the infrared signal displays the second color; when the middle position of the receiving matrix area displays the second color, it is judged that the infrared beam is irradiated at the preset position and the second vehicle is aligned.

[0015] Furthermore, the receiving matrix is ​​composed of multiple groups of infrared detectors.

[0016] Furthermore, after the second vehicle stops moving, an image including a preset reference point of the first vehicle is acquired, and the height difference between the second vehicle and the first vehicle is determined through the reference point.

[0017] In a second aspect, the present invention further provides a control system for rapid docking of vehicles, comprising:

[0018] The parking space marking frame determining module is configured to: obtain a laser beam emitted from the first vehicle, and determine the parking space marking frame by means of the laser beam;

[0019] The vehicle distance determination module is configured to: control the second vehicle to enter the parking space mark frame, and determine the distance between the second vehicle and the first vehicle;

[0020] The infrared judgment module is configured to: when the distance between the second vehicle and the first vehicle reaches a first preset value, obtain the infrared rays emitted by the first vehicle and judge whether the infrared rays are irradiated at a preset position; otherwise, continue to control the second vehicle to approach the first vehicle in the parking space mark frame;

[0021] The docking control module is configured to: if the infrared ray is irradiated at a preset position and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving and controls the first vehicle and the second vehicle to dock.

[0022] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for rapid vehicle docking described in the first aspect.

[0023] In a fourth aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the control method for rapid vehicle docking described in the first aspect are implemented.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The parking space marking frame determined by the laser beam in the present invention realizes the preliminary positioning of the moving vehicle as a guide, and then accurately measures the distance and position status between the moving vehicle and the stationary vehicle by judging the preset distance value and judging with the help of the infrared beam, and assists the vehicle to complete automatic and accurate docking without repeated adjustments and without the need for ground personnel to command;

[0026] 2. The present invention is based on a combination of optical, deep visual image and other technologies to accurately measure the distance and position status between vehicles, assisting vehicles to complete automatic and precise docking without repeated adjustments or ground personnel commands. It displays the vehicle's operating status in real time, and the driver can see the current docking screen on the display terminal and control the vehicle direction according to the system prompts, solving the problems of many personnel, low docking efficiency, low docking accuracy and potential safety hazards in current work. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0028] Figure 1 This is a schematic diagram of the system structure of Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic diagram of a marking frame of Embodiment 1 of the present invention;

[0030] Figure 3 This is a schematic diagram of reversing according to Embodiment 1 of the present invention;

[0031] Figure 4 is the lateral docking accuracy of Example 1 of the present invention;

[0032] Figure 5 is the longitudinal docking accuracy of Example 1 of the present invention;

[0033] Figure 6 is the lateral docking accuracy of Example 1 of the present invention;

[0034] Figure 7 The receiving matrix screen of embodiment 1 of the present invention;

[0035] Figure 8This is a picture of the infrared signal received by the receiving matrix of Embodiment 1 of the present invention;

[0036] Fig. 9 Schematic diagram of a laser ranging radar according to Embodiment 1 of the present invention;

[0037] Fig.10 This is a schematic diagram of the detection angle of the laser ranging radar according to Example 1 of the present invention;

[0038] Fig.11 This is a schematic diagram of the installation of a stationary vehicle docking device according to Embodiment 2 of the present invention;

[0039] Fig.12 This is a schematic diagram of the installation of a mobile vehicle docking device according to Embodiment 2 of the present invention;

[0040] Fig.13 This is a schematic diagram of two vehicles docking in Example 2 of the present invention;

[0041] Fig.14 It is a height target map of Example 2 of the present invention;

[0042] Fig.15 This is a schematic diagram of stationary vehicle data transmission according to Embodiment 2 of the present invention;

[0043] Fig.16 This is a schematic diagram of mobile vehicle data transmission according to Embodiment 2 of the present invention;

[0044] Among them, 1. Laser ruler transmitting end; 2. Target; 3. Infrared transmitting module; 4. Laser ranging radar; 5. Infrared receiving module; 6. Height calibration camera; 7. Laser ranging radar; 8. Rear view camera; 9. Stationary vehicle docking interface; 10. Moving vehicle docking interface. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0047] Embodiment 1:

[0048] The present invention provides a control method for rapid docking of vehicles, comprising:

[0049] Acquire a laser beam emitted from the first vehicle, and determine a parking space marking frame by using the laser beam;

[0050] Controlling a second vehicle to enter the parking space marking frame, and determining the distance between the second vehicle and the first vehicle;

[0051] When the distance between the second vehicle and the first vehicle reaches a first preset value, the infrared beam emitted by the first vehicle is obtained, and it is determined whether the infrared beam is irradiated at a preset position; otherwise, the second vehicle is continuously controlled to approach the first vehicle in the parking space mark frame;

[0052] If the infrared beam is irradiated at a preset position and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving, and the first vehicle and the second vehicle are controlled to dock.

[0053] It can be understood that the first vehicle is a stationary vehicle and the second vehicle is a moving vehicle; the laser beam can be emitted by a laser ruler installed on the first vehicle; the laser beam includes at least two parallel laser beams, and two adjacent laser beams constitute a parking space marking frame, that is, on the same first vehicle, multiple parking space marking frames can be determined by multiple laser beams to achieve the docking requirements of multiple second vehicles on the same first vehicle. In this embodiment, there are 2 parking space marking frames; the first preset value and the second preset value are constants, which can be set according to actual requirements. In this embodiment, they can be set to 1.5 meters and 0.755 meters respectively.

[0054] The distance between the second vehicle and the first vehicle may be determined by laser ranging technology. It is understandable that this may be achieved by using a reversing rangefinder provided by the second vehicle.

[0055] The infrared beam includes multiple beams, and the multiple beams are irradiated in the receiving matrix area; the area in the receiving matrix area that does not receive the infrared signal displays the first color, and the area that receives the infrared signal displays the second color; when the middle position of the receiving matrix area displays the second color, it is determined that the infrared beam is irradiated in the preset position and the second vehicle is aligned. The first color can be set to green, and the second color can be set to red; the receiving matrix can be composed of multiple groups of infrared detectors.

[0056] After the second vehicle stops moving, an image including a preset reference point of the first vehicle is acquired, and the height difference between the second vehicle and the first vehicle is determined through the reference point.

[0057] In order to realize the control method for rapid vehicle docking, the present embodiment also provides a control system with real-time display of docking images, docking distance and automatic docking correction method, such as Figure 1 As shown, it includes a display and control terminal, a rear-view camera, a main control box, an infrared transmitting module, an infrared receiving module, a laser ruler transmitting end, a laser ranging radar, connecting cables and other equipment.

[0058] The display and control terminal can be installed inside the cab to display the docking status, docking size, and the light receiving condition of the infrared receiving module in real time, thereby helping the operator to complete the docking.

[0059] The rear-view camera can be installed at the rear of the vehicle to send the entire docking image to a display terminal.

[0060] The infrared transmitting module can be installed on the stationary vehicle. The infrared transmitting module transmits an infrared beam and sends it to the infrared receiving module of the docking vehicle. The infrared receiving module can be installed on the rear of a moving vehicle to receive the infrared beam from the infrared transmitting module; and the position information of the infrared transmitting module transmitting beam in the receiving matrix is ​​transmitted to the main control box and displayed on the display and control terminal; the infrared receiving matrix can be composed of multiple groups of photovoltaic InSb infrared detectors on the X-axis and Y-axis, which display green when no signal is received and red when a signal is received. The laser ruler transmitting end can be installed on a stationary vehicle, and two laser beams are projected on the ground on both sides of the docking position to provide a rough reference for the moving vehicle when entering the site. The moving vehicle first enters the laser ruler boundary. The main control box can process the docking information transmitted by the rear-view camera and the infrared receiving module and send it to the display terminal. The laser radar can be installed on the rear end of the moving vehicle, with a measurement accuracy of 0.5m, and accurately measure the distance of the docking vehicle.

[0061] The steps of implementing a control method for rapid vehicle docking based on the above system include:

[0062] S1, such as Figure 2 As shown, the first vehicle L drives to the designated position and stops, turns on the laser ruler, and marks two parking space marking frames on the ground. The driver of the second vehicle A or the second vehicle B observes the position of the marking frame through the rearview mirror, and the driver can quickly reverse into the designated position of the marking frame based on experience.

[0063] S2, such as Figure 3 As shown, after entering the designated area, the driver can use the reversing image and laser ranging radar of the auxiliary driving system to gradually reverse and approach a certain load area of ​​the first vehicle L. During the reversing docking process, the auxiliary driving system first switches the display and control terminal screen to the rear view, and the system automatically turns on the laser radar, and displays the vehicle speed and distance on the display and control terminal. When it exceeds the set range, the system will alarm to remind the operator to pay attention.

[0064] S3. Install two infrared transmitting devices at each of the two docking positions of the first vehicle L, and install two infrared receiving devices at the tail beams of the second vehicle A and the second vehicle B; when the distance to the docking position reaches the first preset value of about 1.5 meters, switch the display and control terminal screen to the infrared receiving matrix screen or let the matrix screen float on the rear-view image screen, and the centering point of the two transmitting ends of the second vehicle A and the second vehicle B will be displayed in the middle of the two receiving matrices. The receiving matrix is ​​composed of multiple groups of photovoltaic InSb infrared detectors on the X-axis and the Y-axis. It displays green when no signal is received and red when a signal is received. When both receiving matrices display a red receiving signal in the middle, it means that it is aligned and can be reversed slowly. When the distance between the second vehicle A or the second vehicle B and the first vehicle L is close to the second preset value of 0.755 meters, the height direction and the deviation in the opposite direction of the axis of the second vehicle A or the second vehicle B are quickly adjusted by adjusting the oil-gas spring suspension height and the steering system according to the actual situation to complete the docking process; the entire docking time is no more than 4 minutes.

[0065] Embodiment 2:

[0066] This embodiment is based on Embodiment 1 and provides a control system with the function of real-time display of docking images, docking distance and automatic docking correction method, including a display and control terminal, a rearview camera, a main control box, an infrared transmitting module, an infrared receiving module, a laser ruler transmitting end, a laser ranging radar, a target, a height calibration camera, and connecting cables and other equipment.

[0067] The display and control terminal is installed inside the cab to display the docking status, docking position distance, and receiving beam information of the infrared receiving module in real time. Help the operator to complete the docking. The rear-view camera is installed at the rear of the vehicle to send the entire docking image to the display terminal. The infrared transmitting module is installed at the stationary vehicle end. The infrared transmitting module transmits an infrared fan-shaped beam to the infrared receiving module of the docking vehicle. The infrared transmitting tube continuously sends a 38k carrier signal; the infrared receiving module is installed at the rear of the moving vehicle to receive the infrared beam from the infrared transmitting module. And the position information of the infrared transmitting module transmitting beam in the receiving matrix is ​​transmitted to the main control box and displayed on the display and control terminal. The infrared receiving matrix consists of multiple groups of photovoltaic InSb infrared detectors on the X-axis and Y-axis. It displays green when no signal is received and red when a signal is received. Infrared receiving tube matrix state acquisition. The infrared receiving matrix state is collected at a certain period, converted into CAN commands, and sent to CCAN; the infrared receiving tube matrix obtains the infrared receiving matrix state frame from CCAN, and converts it into a display driving command, lights up or turns off the corresponding display screen controls, and presents the infrared receiving matrix state to the driver. The transmitting end of the laser ruler is installed on the stationary vehicle, and two laser beams are projected on the ground on both sides of the docking position, providing a rough reference for the moving vehicle when entering the site, and assisting the moving vehicle to quickly enter the laser ruler boundary. The main control box processes the docking information transmitted by the rear-view camera, infrared receiving module, and height calibration camera and sends it to the display terminal. The laser ranging radar laser radar is installed on both sides of the tail end of the mobile vehicle, with a measurement accuracy of 0.1m, and accurately measures the distance between the two ends of the docking vehicle. Ensure verticality with the stationary vehicle. The target is installed at the docking position of the stationary vehicle, with scale lines on the surface and an accuracy of 1mm. When the mobile vehicle reverses to the specified position, it provides relative height dimensions in the height direction and provides height data for the leveling system. The height calibration camera: clearly reads the relative height difference between the moving vehicle and the stationary vehicle, and provides relative height difference data for the leveling system.

[0068] The steps of implementing the control method for rapid vehicle docking in Example 1 based on the above system include:

[0069] S1. The first vehicle L drives to the designated position and stops. The first vehicle L turns on the laser ruler and marks two parking space marking frames on the ground. The driver of the second vehicle A or the second vehicle B observes the position of the marking frames through the rearview mirror, and the driver can quickly reverse into the designated position of the marking frames.

[0070] S2. After entering the marking box, the first vehicle L turns on the infrared transmitter module, and the driver uses the display terminal and the laser ranging radar to gradually reverse and approach the first vehicle L. During the reverse docking process, the display terminal switches to the rear view screen, and the system automatically turns on the laser radar. The speed and distance of the vehicle are displayed on the display terminal, as well as the position information of the infrared signal sent by the infrared transmitter module received by the infrared receiving module in the matrix. When it exceeds the set range, the system will alarm to remind the operator to pay attention.

[0071] S3. When reversing and docking, the driver follows the infrared receiving matrix screen of the display and control terminal. The signal from the transmitter is displayed on the receiving matrix. The receiving matrix consists of multiple groups of photovoltaic infrared detectors on the X-axis and Y-axis. It displays green when no signal is received and red when a signal is received. When aligned, a red light spot will be displayed below the red arrow. The complete docking process can be reversed slowly. The process is as follows:

[0072] Put down the quick docking display terminal, and the screen will display the reversing image, centering ruler and ranging radar measurement numbers;

[0073] Keep the vehicle running at the lowest stable speed, and observe the relative position between the red indicator arrow and the red key on the scale on the display screen. If the red arrow is on the left side of the red key on the scale, turn the steering wheel slightly to the left until the arrow points to the red key. If the red arrow is on the right side of the red key on the scale, turn the steering wheel slightly to the right until the arrow points to the red key. At the same time, observe the numbers on both sides of the red key on the screen, which should remain roughly equal. Continue to adjust the vehicle until the red arrow is aligned with the red key, and the data on both sides of the red arrow should meet the specified distance.

[0074] S4. When the vehicle reaches the predetermined distance after reversing, the relative distance in the height direction is accurately read through the height calibration camera and the target installed on the stationary vehicle, and the height difference is adjusted by adjusting the leveling system to complete the docking. It can be understood that after the moving vehicle stops moving, an image including a preset reference point of the stationary vehicle is obtained, and the height difference between the moving vehicle and the stationary vehicle is determined by the reference point, and the reference point is the point on the target;

[0075] In this embodiment, the display terminal displays the information of the infrared transmitting end received by the infrared receiving module in real time, determines the docking position, and provides direction information for the driver; the display terminal displays the docking impact in real time, and no on-site personnel are required to command. The entire process can be completed in the cab, avoiding the limitations of harsh environments; assisting operators to complete high-precision docking; the laser ranging radars at both ends of the rear of the mobile vehicle accurately measure the distance information and keep the mobile vehicle perpendicular to the stationary vehicle; the height calibration camera and target accurately measure the docking height difference of the docking vehicles and provide docking data for the height direction.

[0076] Embodiment 3:

[0077] This embodiment provides a control method for rapid vehicle docking, including:

[0078] The parking space marking frame determining module is configured to: obtain a laser beam emitted from the first vehicle, and determine the parking space marking frame by means of the laser beam;

[0079] The vehicle distance determination module is configured to: control the second vehicle to enter the parking space mark frame, and determine the distance between the second vehicle and the first vehicle;

[0080] The infrared judgment module is configured to: when the distance between the second vehicle and the first vehicle reaches a first preset value, obtain the infrared rays emitted by the first vehicle and judge whether the infrared rays are irradiated at a preset position; otherwise, continue to control the second vehicle to approach the first vehicle in the parking space mark frame;

[0081] The docking control module is configured to: if the infrared ray is irradiated at a preset position and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving and controls the first vehicle and the second vehicle to dock.

[0082] The working method of the system is the same as the control method for rapid vehicle docking in Example 1, and will not be repeated here.

[0083] Embodiment 4:

[0084] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the control method for rapid vehicle docking described in Embodiment 1 are implemented.

[0085] Embodiment 5:

[0086] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the control method for rapid vehicle docking described in Embodiment 1 are implemented.

[0087] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A control method for rapid vehicle docking, characterized in that: include: Acquire a laser beam emitted from the first vehicle, and determine a parking space marking frame by using the laser beam; The laser beam is emitted by a laser ruler installed on the first vehicle; the laser beam includes at least two mutually parallel laser beams, and two adjacent laser beams constitute a parking space marking frame; Controlling the second vehicle to enter the parking space mark frame, and determining the distance between the second vehicle and the first vehicle; after the second vehicle enters the mark frame, the second vehicle gradually reverses and approaches the first vehicle using the reversing image and laser ranging radar of the auxiliary driving system; During the reverse docking process, the second vehicle first switches the display and control terminal screen to the rear view screen through the auxiliary driving system. The system automatically turns on the laser radar and displays the vehicle speed and distance on the display and control terminal. When the speed exceeds the set range, the system will alarm. When the distance between the second vehicle and the first vehicle reaches a first preset value, the infrared beam emitted from the first vehicle is obtained, and it is determined whether the infrared beam is irradiated at a preset position; otherwise, the second vehicle is continuously controlled to approach the first vehicle in the parking space marking frame; the infrared beam includes a plurality of beams, and the plurality of beams are irradiated at a receiving matrix area; when the distance at the docking point reaches a first preset value, the second vehicle switches the display and control terminal screen to an infrared receiving matrix screen, or allows the matrix screen to float on the rear-view image screen; the area in the receiving matrix area that does not receive an infrared signal displays a first color, and the area that receives an infrared signal displays a second color; when the middle position of the receiving matrix area displays the second color, it is determined that the infrared beam is irradiated at a preset position, and the second vehicle is aligned; If the infrared beam is irradiated at a preset position and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving, and the first vehicle and the second vehicle are controlled to dock; After the second vehicle stops moving, an image including a preset reference point of the first vehicle is acquired, and the height difference between the second vehicle and the first vehicle is determined by the reference point. The height difference is adjusted by adjusting the leveling system to complete the docking.

2. A control method for rapid vehicle docking as claimed in claim 1, characterized in that: The distance between the second vehicle and the first vehicle is determined by laser ranging technology.

3. A control method for rapid vehicle docking as claimed in claim 1, characterized in that: The receiving matrix is ​​composed of multiple groups of infrared detectors.

4. A system for controlling a method for rapid docking of vehicles, characterized in that: include: The parking space marking frame determination module is configured to: obtain a laser beam emitted from the first vehicle, and determine the parking space marking frame by the laser beam; the laser beam is emitted by a laser ruler installed on the first vehicle; the laser beam includes at least two mutually parallel laser beams, and two adjacent laser beams constitute a parking space marking frame; The vehicle distance judgment module is configured to: control the second vehicle to enter the parking space mark frame, and judge the distance between the second vehicle and the first vehicle; after the second vehicle enters the mark frame, the second vehicle gradually reverses and approaches the first vehicle using the reversing image and laser ranging radar of the auxiliary driving system; during the reversing docking process, the second vehicle first switches the display and control terminal screen to the rear view screen through the auxiliary driving system, and the system automatically turns on the laser radar, and displays the vehicle speed and vehicle distance on the display and control terminal. When the speed exceeds the set range, the system will alarm; The infrared judgment module is configured to: when the distance between the second vehicle and the first vehicle reaches a first preset value, obtain the infrared beam emitted by the first vehicle, and judge whether the infrared beam is irradiated at a preset position; otherwise, continue to control the second vehicle to approach the first vehicle in the parking space marking frame; the infrared beam includes multiple beams, and the multiple beams are irradiated in the receiving matrix area; when the distance to the docking point reaches the first preset value, the second vehicle switches the display and control terminal screen to the infrared receiving matrix screen, or makes the matrix screen float on the rear-view image screen; the area in the receiving matrix area that does not receive the infrared signal displays the first color, and the area that receives the infrared signal displays the second color; when the middle position of the receiving matrix area displays the second color, it is judged that the infrared beam is irradiated at the preset position, and the second vehicle is aligned; The docking control module is configured as follows: if the infrared beam is irradiated at a preset position and the distance between the second vehicle and the first vehicle reaches a second preset value, the second vehicle stops moving and controls the first vehicle and the second vehicle to dock; after the second vehicle stops moving, an image including a preset reference point of the first vehicle is acquired, the height difference between the second vehicle and the first vehicle is determined by the reference point, and the height difference is adjusted by adjusting the leveling system to complete the docking.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the control method for rapid vehicle docking as described in any one of claims 1 to 3 are implemented.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the control method for rapid vehicle docking as described in any one of claims 1 to 3 are implemented.

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