Vehicle parking guidance method, device, unmanned container truck and storage medium

Abstract

The present invention relates to the field of vehicle control technology, and discloses a vehicle parking guidance method, device, unmanned container truck and storage medium. The method comprises: when it is detected that a vehicle passes through the bottom of a quay crane and does not stop in a preset parking area, determining the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy; determining the lateral parking deviation and the parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance; generating a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle; performing parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in the preset parking area; in the above manner, using a laser transmitter, a laser receiver and a reflective strip to determine the lateral parking deviation and the parking orientation angle of the vehicle, and then performing parking control on the vehicle according to the generated target parking guidance strategy, thereby effectively improving the accuracy of controlling the parking of the vehicle and reducing the resources consumed by parking control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle parking guidance method, a device, an unmanned container truck and a storage medium. Background Art

[0002] Container terminals are hubs for sea-land transport and play a very important role in social and economic development. During the operation of container terminals, the coordination of loading and unloading resources such as berths, quay cranes, container trucks and yards is required to optimize the efficiency of the terminal. The premise of loading and unloading coordination is that the vehicle needs to be parked accurately at the berth. The current existing technology for controlling vehicles to park at berths is that the driver on the vehicle parks based on experience and detection by the laser radar set on the vehicle. However, since the vehicle carries containers, it has a certain impact on the driver's line of sight, making it impossible for the driver to accurately control the vehicle to park at the berth, and the laser radar will waste a lot of resources in the process from collecting point cloud data to calculation.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle parking guidance method, device, unmanned container truck and storage medium, aiming to solve the technical problems of low accuracy in controlling vehicle parking in the prior art and extremely high resource consumption in parking control.

[0005] To achieve the above object, the present invention provides a vehicle parking guidance method, the vehicle parking guidance method comprising the following steps:

[0006] When it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, the longitudinal distance between the vehicle and the stop line of the preset parking area is determined according to the reflected laser energy;

[0007] Determining a lateral parking deviation and a parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance;

[0008] generating a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle;

[0009] The vehicle is parked according to the target parking guidance strategy until the vehicle is parked in a preset parking area.

[0010] Optionally, when detecting that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, determining the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy includes:

[0011] When it is detected that a vehicle passes the bottom of the quay crane and does not stop in a preset parking area, the reflected laser energy reflected by a reflective strip arranged on the vehicle is obtained;

[0012] Determining the current position of the reflective strip at the vehicle according to the reflected laser energy;

[0013] Acquire the driving direction of the vehicle and a plurality of stop lines of the preset parking area;

[0014] Determine a target stop line according to the driving direction and a plurality of stop lines in the preset parking area;

[0015] A longitudinal distance between the vehicle and a target stop line is determined based on the current position.

[0016] Optionally, when detecting that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, obtaining reflected laser energy reflected by a reflective strip arranged on the vehicle includes:

[0017] When it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, a laser emitter arranged on the center line of the long side of the container when it is lifted emits a laser to the reflective strip arranged on the vehicle;

[0018] Receiving the reflected laser energy reflected by the reflective strip by a laser receiver arranged on the center line of the long side when the container is hoisted;

[0019] Accordingly, determining the current position of the reflective strip at the vehicle according to the reflected laser energy includes:

[0020] Obtaining current laser irradiation intensity according to the reflected laser energy;

[0021] Determine the position of the reflective strip according to the mapping relationship between the current laser irradiation intensity at the preset reflective strip position and the illumination intensity;

[0022] The current position of the vehicle is determined according to the position of the reflective strip.

[0023] Optionally, determining the lateral parking deviation and parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance includes:

[0024] Obtaining a reflected laser angle of a laser reflected by a reflective strip disposed on a vehicle;

[0025] Calculating the distance between the vehicle and the laser receiver according to the reflected laser angle and the longitudinal distance;

[0026] Acquiring a current lateral parking parameter and a parking orientation angle of the vehicle according to a distance between the vehicle and a laser receiver;

[0027] Obtain standard lateral parking parameters of a preset parking area;

[0028] A lateral parking deviation is determined according to the current lateral parking parameter and a standard lateral parking parameter.

[0029] Optionally, generating a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle includes:

[0030] The lateral parking deviation and the parking direction angle are sent to the automatic driving control module, so that the automatic driving control module determines the driving parameters that need to be adjusted for the vehicle to be parked in a preset parking area according to the lateral parking deviation and the parking direction angle, and generates a target parking guidance strategy according to the driving parameters that need to be adjusted.

[0031] Optionally, the performing parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area includes:

[0032] performing parking control on the vehicle according to the target parking guidance strategy;

[0033] After the control is completed, obtaining the current location area of ​​the vehicle;

[0034] When the preset parking area completely covers the current location area of ​​the vehicle, determining that the vehicle is parked in the preset parking area;

[0035] When the preset parking area does not completely cover the area where the vehicle is currently located, determining an area deviation between the preset parking area and the area where the vehicle is currently located;

[0036] A parking control instruction is generated according to the area deviation, and a position of the vehicle is fine-tuned according to the parking control instruction until the vehicle is parked in a preset parking area.

[0037] Optionally, the performing parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area further includes:

[0038] When a container is carried on the vehicle, a target grabbing instruction is sent to the quay crane control device, so that the quay crane control device lifts the container according to the target grabbing instruction and places it in a target storage position;

[0039] When no container is carried on the vehicle, a target placement instruction is sent to the quay crane control device, so that the quay crane control device places the container at the target storage position onto the vehicle according to the target placement instruction.

[0040] In addition, to achieve the above-mentioned purpose, the present invention further provides a vehicle parking guidance device, the vehicle parking guidance device comprising:

[0041] A detection module, for determining the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy when detecting that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area;

[0042] A determination module, used to determine a lateral parking deviation and a parking orientation angle of the vehicle according to a reflected laser angle and the longitudinal distance;

[0043] A generating module, configured to generate a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle;

[0044] A control module is used to perform parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area.

[0045] In addition, to achieve the above-mentioned purpose, the present invention also proposes an unmanned container truck, which includes: a memory, a processor, and a vehicle parking guidance program stored in the memory and executable on the processor, wherein the vehicle parking guidance program is configured to implement the vehicle parking guidance method described above.

[0046] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a vehicle parking guidance program is stored. When the vehicle parking guidance program is executed by a processor, the vehicle parking guidance method as described above is implemented.

[0047] The vehicle parking guidance method proposed in the present invention determines the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy when detecting that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area; determines the lateral parking deviation and the parking direction angle of the vehicle according to the reflected laser angle and the longitudinal distance; generates a target parking guidance strategy according to the lateral parking deviation and the parking direction angle; and controls the parking of the vehicle according to the target parking guidance strategy until the vehicle stops in the preset parking area. In the above manner, the lateral parking deviation and the parking direction angle of the vehicle are determined by using a laser transmitter, a laser receiver, and a reflective strip, and then the vehicle is controlled to park according to the generated target parking guidance strategy, thereby effectively improving the accuracy of controlling the parking of the vehicle and reducing the resources consumed by parking control. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the structure of an unmanned container truck in a hardware operating environment involved in an embodiment of the present invention;

[0049] Figure 2A schematic diagram of a flow chart of a first embodiment of a vehicle parking guidance method according to the present invention;

[0050] Figure 3 It is a schematic diagram of the overall process of an embodiment of a vehicle parking guidance method of the present invention;

[0051] Figure 4 A schematic diagram of a flow chart of a second embodiment of a vehicle parking guidance method according to the present invention;

[0052] Figure 5 FIG. 1 is a schematic diagram of functional modules of a first embodiment of a vehicle parking guidance device according to the present invention.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0055] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of an unmanned container truck of the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1 As shown, the unmanned container truck may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the unmanned container truck, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle parking guidance program.

[0059] exist Figure 1 In the unmanned container truck shown, the network interface 1004 is mainly used for data communication with the network integration platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the unmanned container truck of the present invention can be set in the unmanned container truck, and the unmanned container truck calls the vehicle parking guidance program stored in the memory 1005 through the processor 1001, and executes the vehicle parking guidance method provided by the embodiment of the present invention.

[0060] Based on the above hardware structure, an embodiment of a vehicle parking guidance method of the present invention is proposed.

[0061] Reference Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a vehicle parking guidance method according to the present invention.

[0062] In a first embodiment, the vehicle parking guidance method comprises the following steps:

[0063] Step S10, when it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, the longitudinal distance between the vehicle and the stop line of the preset parking area is determined according to the reflected laser energy.

[0064] It should be noted that the executor of this embodiment is an unmanned container truck, and may also be other equipment that can achieve the same or similar functions, such as a quay crane parking system, etc. This embodiment does not limit this. In this embodiment, the quay crane parking system is taken as an example for explanation.

[0065] It should be understood that the vehicle may be an unmanned container truck equipped with an automatic driving system. The preset parking area refers to the area where the vehicle parks when the quay crane grabs or places a container. When it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, it indicates that the vehicle is preparing to drive to the preset parking area and park. The longitudinal distance refers to the distance in the longitudinal direction between the vehicle and the stop line of the preset parking area.

[0066] Step S20, determining the lateral parking deviation and parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance.

[0067] It can be understood that the reflected laser angle refers to the angle at which the reflective strip set on the vehicle reflects the laser emitted by the laser transmitter, and the lateral parking deviation refers to the lateral deviation of the vehicle from the current position to the preset parking area. The smaller the lateral parking deviation, the faster the vehicle parks to the preset parking area, and the parking direction angle refers to the angle of the front of the vehicle relative to the preset parking area.

[0068] Furthermore, step S20 includes: obtaining a reflected laser angle of a laser reflected by a reflective strip provided on the vehicle; calculating a distance between the vehicle and a laser receiver according to the reflected laser angle and a longitudinal distance; obtaining a current lateral parking parameter and a parking orientation angle of the vehicle according to the distance between the vehicle and the laser receiver; obtaining a standard lateral parking parameter of a preset parking area; and determining a lateral parking deviation according to the current lateral parking parameter and a standard lateral parking parameter.

[0069] It should be understood that the laser receiver refers to a device for receiving laser light after being reflected by a reflective strip. The laser receiver and the laser transmitter are both set on the center line of the long side of the container when it is lifted. The reflective strip is installed on the side of the vehicle's trailer, and the 0 scale is directly opposite to the long mid-vertical line of the side of the vehicle's trailer. It is ensured that the laser transmitter, the laser light source and the connecting line of the reflective strip are perpendicular to the running lane line when loading and unloading containers. The laser emitted by the laser transmitter and the surface of the laser receiver are on the same plane, that is, the reflected light receiving surface of the laser receiver is perpendicular to the ground, and the reflected light receiving surface is parallel to the lane line of the vehicle's driving channel. It is ensured that the vertical distances from the laser emission point and the reflected laser receiving point to the vehicle's driving lane line are equal, and the setting height is at the same height as the vehicle's trailer. The height error can be ±20cm. After the setting is completed, the laser emitted by the laser transmitter can just irradiate the reflective strip, and the laser reflected by the reflective strip can just irradiate a certain position of the laser receiver, that is, it is received by the laser receiver.

[0070] It can be understood that after obtaining the reflected laser angle, the distance between the vehicle and the laser receiver is calculated based on the reflected laser angle and the longitudinal distance using the trigonometric formula. The standard lateral parking parameter refers to the lateral parking parameter corresponding to parking in the preset parking area. Then, the error between the current lateral parking parameter and the standard lateral parking parameter is determined. The error at this time is the lateral parking deviation.

[0071] Step S30: generating a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle.

[0072] It should be understood that the target parking guidance strategy refers to a guidance strategy for controlling the vehicle to be accurately parked in a preset parking area, and the target parking guidance strategy is generated according to the lateral parking deviation and the parking orientation angle.

[0073] Further, step S30 includes: sending the lateral parking deviation and the parking direction angle to the automatic driving control module, so that the automatic driving control module determines the driving parameters that need to be adjusted for the vehicle to be parked in the preset parking area according to the lateral parking deviation and the parking direction angle, and generates a target parking guidance strategy according to the driving parameters that need to be adjusted.

[0074] It can be understood that driving parameters refer to parameters that need to be adjusted to control the vehicle to drive from the current position to the preset parking area. After determining the lateral parking deviation and the parking direction angle, the lateral parking deviation and the parking direction angle are sent to the automatic driving control module. The automatic driving control module receives the driving parameters that need to be adjusted to park the vehicle from the current position in the preset parking area based on the lateral parking deviation and the parking direction angle, and then generates a target parking guidance strategy based on the driving parameters that need to be adjusted.

[0075] Step S40: performing parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area.

[0076] Further, step S40 includes: controlling the parking of the vehicle according to the target parking guidance strategy; after the control is completed, obtaining the current position area of ​​the vehicle; when the preset parking area completely covers the current position area of ​​the vehicle, determining that the vehicle is parked in the preset parking area; when the preset parking area does not completely cover the current position area of ​​the vehicle, determining the area deviation between the preset parking area and the current position area of ​​the vehicle; generating a parking control instruction according to the area deviation, and fine-tuning the position of the vehicle according to the parking control instruction until the vehicle is parked in the preset parking area.

[0077] It should be understood that after generating the target parking guidance strategy, the vehicle is controlled to park according to the target parking guidance strategy. After the control is completed, it is determined whether the preset parking area completely covers the current location area of ​​the vehicle. If so, it indicates that the vehicle has been parked in the preset parking area. If not, it indicates that the vehicle is not parked in the preset parking area and the area deviation between the current location area of ​​the vehicle and the preset parking area is extremely small. To avoid the above situation, the present embodiment also provides a control strategy for fine-tuning the vehicle, specifically, generating a parking control instruction according to the area deviation between the preset parking area and the current location area of ​​the vehicle, and then fine-tuning the position of the vehicle according to the parking control instruction.

[0078] Furthermore, after step S40, it also includes: when a container is carried on the vehicle, sending a target lifting instruction to the shore crane control device, so that the shore crane control device lifts the container according to the target lifting instruction and places it to the target storage position; when no container is carried on the vehicle, sending a target placement instruction to the shore crane control device, so that the shore crane control device places the container at the target storage position onto the vehicle according to the target placement instruction.

[0079] It can be understood that the target storage location refers to a location specifically used to store containers. The target storage location can be a storage yard. After guiding the vehicle to park in the preset parking area, it is determined whether the vehicle is carrying containers. If so, it indicates that the vehicle is transporting containers. At this time, a target grabbing instruction is sent to the quay crane control device. When the quay crane control device receives the target grabbing instruction, it lifts the container carried by the vehicle and places it to the target storage location. If not, it indicates that the vehicle is transporting away containers. At this time, a target placement instruction is sent to the quay crane control device. When the quay crane control device receives the target placement instruction, it lifts the container at the target storage location and places it on the vehicle's trailer.

[0080] It should be understood that reference Figure 3 , Figure 3 It is a schematic diagram of the overall process, specifically: at the beginning of the loading / unloading task, the quay crane / yard crane moves to the operating position, and the vehicle approaches the back position, and then determines whether the vehicle is moving forward. If so, the port detection system starts working and determines whether the container truck detection system detects the vehicle. If not, the container truck detection system suspends work. If so, the laser transmitter emits a laser, and the reflective strip reflects the laser, and the laser receiver receives the laser. The longitudinal position of the vehicle is determined according to the energy of the laser, and the longitudinal distance is obtained according to the longitudinal position. Then it is determined whether the vehicle reaches the preset parking area. If so, it is determined whether the vehicle exceeds the preset parking area. If so, the vehicle is controlled to retreat. If not, the vehicle is controlled to stop, load / unload containers, and end the loading / unloading task.

[0081] This embodiment determines the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy when it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area; determines the lateral parking deviation and the parking direction angle of the vehicle according to the reflected laser angle and the longitudinal distance; generates a target parking guidance strategy according to the lateral parking deviation and the parking direction angle; and controls the parking of the vehicle according to the target parking guidance strategy until the vehicle stops in the preset parking area. In the above manner, the lateral parking deviation and the parking direction angle of the vehicle are determined by using a laser transmitter, a laser receiver, and a reflective strip, and then the vehicle is controlled to park according to the generated target parking guidance strategy, thereby effectively improving the accuracy of controlling the parking of the vehicle and reducing the resources consumed by parking control.

[0082] In one embodiment, if Figure 4 Based on the first embodiment, a second embodiment of the vehicle parking guidance method of the present invention is proposed, wherein step S10 comprises:

[0083] Step S101, when it is detected that a vehicle passes the bottom of the quay crane and does not stop in a preset parking area, the reflected laser energy reflected by the reflective strip arranged on the vehicle is obtained.

[0084] It should be understood that the reflected laser energy refers to the energy of the laser after being reflected by the reflective strip. Specifically, when it is detected that a vehicle passes through the bottom of the quay crane and does not stop in the preset parking area, the reflected laser energy reflected by the reflective strip is received by the laser receiver.

[0085] Further, step S101 includes: when it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, a laser is emitted to a reflective strip arranged on the vehicle by a laser transmitter arranged on the center line of the long side when the container is lifted; a laser receiver arranged on the center line of the long side when the container is lifted receives reflected laser energy reflected by the reflective strip; accordingly, determining the current position of the reflective strip at the vehicle according to the reflected laser energy includes: obtaining a current laser irradiation intensity according to the reflected laser energy; determining the position of the reflective strip according to a mapping relationship between the current laser irradiation intensity at a preset reflective strip position and the illumination intensity; and determining the current position of the vehicle according to the position of the reflective strip.

[0086] It can be understood that the specific process of obtaining reflected laser energy is that when it is detected that the vehicle passes the bottom of the quay bridge and does not stop in the preset parking area, the laser transmitter emits a laser to the reflective strip of the vehicle, and the laser is reflected by the reflective strip at the moment of irradiation on the reflective strip, and then the laser receiver receives the energy of the laser reflected by the reflective strip, which is the reflected laser energy, and then the current laser irradiation intensity is obtained according to the reflected laser energy. The reflected laser energy is positively correlated with the current laser irradiation intensity, and then the position of the reflective strip is determined according to the mapping relationship between the preset reflective strip position and the light intensity of the current laser irradiation intensity. The preset reflective strip position and the light intensity mapping relationship are pre-set, and then the current position of the vehicle is determined according to the position of the reflective strip, which can also be the position of the vehicle's drag plate. For example, the position of the reflective strip is a "-10" scale, which means that the vehicle is 10 cm away from the stop line, the position of the reflective strip is a "0" scale, which means that the vehicle is 0 cm away from the stop line, and the position of the reflective strip is an "8" scale, which means that the vehicle exceeds the stop line by 8 cm.

[0087] Step S102, determining the current position of the reflective strip at the vehicle according to the reflected laser energy.

[0088] Step S103, obtaining the driving direction of the vehicle and a plurality of stop lines of the preset parking area.

[0089] It should be understood that the driving direction refers to the direction of the front of the vehicle during driving, and the several stop lines refer to the stop lines corresponding to the boundaries of the preset parking area.

[0090] Step S104, determining a target stop line according to the driving direction and a plurality of stop lines in the preset parking area.

[0091] It can be understood that the target stop line refers to the stop line closest to the preset parking area. For example, when the vehicle is traveling from left to right, the target stop line is the stop line at the left boundary of the preset parking area. When the vehicle is traveling from right to left, the target stop line is the stop line at the right boundary of the preset parking area.

[0092] Step S105, determining the longitudinal distance between the vehicle and the target stop line according to the current position.

[0093] It should be understood that after determining the target stop line and the current position of the vehicle, the longitudinal distance between the vehicle and the target stop line is calculated according to the current position. The larger the longitudinal distance, the farther the vehicle is from the target stop line.

[0094] This embodiment obtains reflected laser energy reflected by a reflective strip provided on the vehicle when it is detected that the vehicle passes the bottom of the quay crane and does not stop in a preset parking area; determines the current position of the vehicle where the reflective strip is located based on the reflected laser energy; obtains the driving direction of the vehicle and a number of stop lines in the preset parking area; determines a target stop line based on the driving direction and the number of stop lines in the preset parking area; determines the longitudinal distance between the vehicle and the target stop line based on the current position; in the above manner, the reflective strip is determined to be located at the current position of the vehicle based on the reflected laser energy, and then the target stop line is selected from a number of stop lines in the preset parking area based on the driving direction of the vehicle, and then the longitudinal distance between the vehicle and the target stop line is calculated based on the current position of the vehicle, thereby effectively improving the determination of the longitudinal distance.

[0095] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle parking guidance program is stored. When the vehicle parking guidance program is executed by a processor, the steps of the vehicle parking guidance method described above are implemented.

[0096] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0097] In addition, refer to Figure 5 The embodiment of the present invention further provides a vehicle parking guidance device, the vehicle parking guidance device comprising:

[0098] The detection module 10 is used to determine the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy when detecting that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area.

[0099] The determination module 20 is used to determine the lateral parking deviation and parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance.

[0100] The generating module 30 is used to generate a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle.

[0101] The control module 40 is used to control the parking of the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area.

[0102] This embodiment determines the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy when it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area; determines the lateral parking deviation and the parking direction angle of the vehicle according to the reflected laser angle and the longitudinal distance; generates a target parking guidance strategy according to the lateral parking deviation and the parking direction angle; and controls the parking of the vehicle according to the target parking guidance strategy until the vehicle stops in the preset parking area. In the above manner, the lateral parking deviation and the parking direction angle of the vehicle are determined by using a laser transmitter, a laser receiver, and a reflective strip, and then the vehicle is controlled to park according to the generated target parking guidance strategy, thereby effectively improving the accuracy of controlling the parking of the vehicle and reducing the resources consumed by parking control.

[0103] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0104] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle parking guidance method provided in any embodiment of the present invention, and will not be repeated here.

[0105] Other embodiments or implementation methods of the vehicle parking guidance device of the present invention may refer to the above-mentioned method embodiments, which will not be repeated here.

[0106] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0107] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0108] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0109] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle parking guidance method, characterized in that: The vehicle parking guidance method comprises the following steps: When it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, the longitudinal distance between the vehicle and the stop line of the preset parking area is determined according to the reflected laser energy; Determining a lateral parking deviation and a parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance; generating a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle; Performing parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area; When it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, determining the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy includes: When it is detected that a vehicle passes the bottom of the quay crane and does not stop in a preset parking area, the reflected laser energy reflected by a reflective strip arranged on the vehicle is obtained; Determining the current position of the reflective strip at the vehicle according to the reflected laser energy; Acquire the driving direction of the vehicle and a plurality of stop lines of the preset parking area; Determine a target stop line according to the driving direction and a plurality of stop lines in the preset parking area; determining a longitudinal distance between the vehicle and a target stop line based on the current position; When detecting that the vehicle passes the bottom of the quay bridge and does not stop in the preset parking area, obtaining the reflected laser energy reflected by the reflective strip arranged on the vehicle includes: When it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, a laser emitter arranged on the center line of the long side of the container when it is lifted emits laser to the reflective strip arranged on the vehicle, wherein the laser receiver and the laser emitter are both arranged on the center line of the long side of the container when it is lifted, and the reflective strip is installed on the side of the vehicle's trailer, and the 0 scale is opposite to the mid-vertical line of the long side of the vehicle's trailer; Receiving the reflected laser energy reflected by the reflective strip by a laser receiver arranged on the center line of the long side when the container is hoisted; Accordingly, determining the current position of the reflective strip at the vehicle according to the reflected laser energy includes: Obtaining current laser irradiation intensity according to the reflected laser energy; Determine the position of the reflective strip according to the mapping relationship between the current laser irradiation intensity at the preset reflective strip position and the illumination intensity; Determining the current position of the vehicle according to the position of the reflective strip; The determining of the lateral parking deviation and the parking orientation angle of the vehicle according to the reflected laser angle and the longitudinal distance includes: Obtaining a reflected laser angle of a laser reflected by a reflective strip disposed on a vehicle; Calculating the distance between the vehicle and the laser receiver according to the reflected laser angle and the longitudinal distance; Acquiring a current lateral parking parameter and a parking orientation angle of the vehicle according to a distance between the vehicle and a laser receiver; Obtain standard lateral parking parameters of a preset parking area; A lateral parking deviation is determined according to the current lateral parking parameter and a standard lateral parking parameter.

2. The vehicle parking guidance method according to claim 1, characterized in that: The generating a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle includes: The lateral parking deviation and the parking direction angle are sent to the automatic driving control module, so that the automatic driving control module determines the driving parameters that need to be adjusted for the vehicle to be parked in a preset parking area according to the lateral parking deviation and the parking direction angle, and generates a target parking guidance strategy according to the driving parameters that need to be adjusted.

3. The vehicle parking guidance method according to any one of claims 1 or 2, characterized in that: The performing parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area includes: performing parking control on the vehicle according to the target parking guidance strategy; After the control is completed, obtaining the current location area of ​​the vehicle; When the preset parking area completely covers the current location area of ​​the vehicle, determining that the vehicle is parked in the preset parking area; When the preset parking area does not completely cover the area where the vehicle is currently located, determining an area deviation between the preset parking area and the area where the vehicle is currently located; A parking control instruction is generated according to the area deviation, and a position of the vehicle is fine-tuned according to the parking control instruction until the vehicle is parked in a preset parking area.

4. The vehicle parking guidance method according to claim 1, characterized in that: After the vehicle is parked in a preset parking area according to the target parking guidance strategy, the method further includes: When a container is carried on the vehicle, a target grabbing instruction is sent to the quay crane control device, so that the quay crane control device lifts the container according to the target grabbing instruction and places it in a target storage position; When no container is carried on the vehicle, a target placement instruction is sent to the quay crane control device, so that the quay crane control device places the container at the target storage position onto the vehicle according to the target placement instruction.

5. A vehicle parking guidance device, characterized in that: The vehicle parking guidance device comprises: A detection module, for determining the longitudinal distance between the vehicle and the stop line of the preset parking area according to the reflected laser energy when detecting that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area; A determination module, used to determine a lateral parking deviation and a parking orientation angle of the vehicle according to a reflected laser angle and the longitudinal distance; A generating module, configured to generate a target parking guidance strategy according to the lateral parking deviation and the parking orientation angle; a control module, configured to perform parking control on the vehicle according to the target parking guidance strategy until the vehicle stops in a preset parking area; The detection module is further used to obtain reflected laser energy reflected by a reflective strip provided on the vehicle when it is detected that the vehicle passes the bottom of the quay bridge and does not stop in the preset parking area; determine the current position of the vehicle where the reflective strip is located according to the reflected laser energy; obtain the driving direction of the vehicle and a number of stop lines in the preset parking area; determine a target stop line according to the driving direction and the number of stop lines in the preset parking area; and determine a longitudinal distance between the vehicle and the target stop line according to the current position; The detection module is also used to emit laser to the reflective strip arranged on the vehicle through a laser transmitter arranged on the center line of the long side when the container is lifted, when it is detected that the vehicle passes the bottom of the quay crane and does not stop in the preset parking area, wherein the laser receiver and the laser transmitter are both arranged on the center line of the long side when the container is lifted, and the reflective strip is installed on the side of the vehicle's trailer, and the 0 scale is opposite to the long mid-vertical line of the side of the vehicle's trailer; the reflected laser energy reflected by the reflective strip is received by the laser receiver arranged on the center line of the long side when the container is lifted; the current laser irradiation intensity is obtained according to the reflected laser energy; the position of the reflective strip is determined according to the mapping relationship between the current laser irradiation intensity at the preset reflective strip position and the light intensity; the current position of the vehicle is determined according to the position of the reflective strip; The determination module is further used to obtain a reflected laser angle of a laser reflected by a reflective strip arranged on the vehicle; calculate the distance between the vehicle and a laser receiver according to the reflected laser angle and the longitudinal distance; obtain the current lateral parking parameters and parking orientation angle of the vehicle according to the distance between the vehicle and the laser receiver; obtain the standard lateral parking parameters of a preset parking area; and determine a lateral parking deviation according to the current lateral parking parameters and the standard lateral parking parameters.

6. An unmanned container truck, characterized in that: The unmanned container truck comprises: a memory, a processor, and a vehicle parking guidance program stored in the memory and executable on the processor, wherein the vehicle parking guidance program is configured to implement the vehicle parking guidance method according to any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores a vehicle parking guidance program, and when the vehicle parking guidance program is executed by the processor, the vehicle parking guidance method according to any one of claims 1 to 4 is implemented.

Images