A method and system for guiding unmanned vehicle in a battery swap station

Abstract

The present invention discloses a method and system for guiding an unmanned vehicle to a battery swap station, including: obtaining the battery swap station position within a first threshold range of the vehicle according to a vehicle-side positioning system, and driving the vehicle to the battery swap station position; when the distance between the vehicle and the battery swap station position is less than a second threshold, the vehicle and the battery swap station simultaneously issue a first connection instruction to determine whether a vehicle-side communication module and a station-side communication module are connected, and if connected, the station-side identity recognition module performs identity recognition on the vehicle; the station-side posture detection system obtains the real-time posture data of the vehicle, combines the posture of the target vehicle, obtains the posture correction data of the vehicle, and transmits the posture correction data to the vehicle-side; the vehicle-side completes the guidance of the unmanned vehicle to the battery swap station according to the posture correction amount. The present invention provides a positioning method for an unmanned vehicle at a battery swap station, corrects the positioning error of the unmanned vehicle itself, and improves the parking accuracy of the vehicle during battery swap.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle battery swap station guidance, and in particular to an unmanned vehicle battery swap station guidance method and system. Background Art

[0002] In recent years, with the gradual popularization and rapid development of electric vehicles, the trend of automobile electrification has become more and more obvious, and the technology has also been greatly improved. At present, electric cars are the mainstream of consumption, and the electrification of small cars such as taxis and private cars is relatively widespread. In order to better realize the electrification of cars and facilitate battery replacement, it is necessary to design the battery replacement platform more simply to adapt to more usage occasions, especially the field of unmanned driving.

[0003] The errors in the existing unmanned vehicle positioning methods are relatively large in the field of battery swapping. If they are not corrected, the design tolerance range of the battery swapping equipment will become larger, thereby increasing the cost of the battery swapping equipment. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed.

[0006] Therefore, the present invention provides a method and system for guiding an unmanned vehicle in a battery swap station, which can solve the problems mentioned in the background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions, a method for guiding an unmanned vehicle to a battery swap station, comprising:

[0008] Obtain the location of the battery swap station within the first threshold range of the vehicle according to the vehicle-side positioning system, and drive the vehicle to the location of the battery swap station;

[0009] When the distance between the vehicle and the battery swap station is less than the second threshold, the vehicle and the battery swap station simultaneously send a first connection instruction to determine whether the vehicle-side communication module and the station-side communication module are connected. If so, the station-side identity recognition module identifies the vehicle;

[0010] The station-side posture detection system obtains the real-time posture data of the vehicle, combines it with the posture of the target vehicle, obtains the vehicle posture correction data, and transmits the posture correction data to the vehicle side;

[0011] The vehicle side completes the guidance of the unmanned vehicle to the battery swap station based on the posture correction amount.

[0012] As a preferred solution of the unmanned vehicle power swap station guidance method of the present invention, it also includes: if it is determined that the vehicle-side communication module and the station-side communication module are not connected, the station-side stops sending the connection instruction, and the vehicle-side sends a second connection instruction, and after the station-side receives the second connection instruction sent from the vehicle-side within the first time range, the station-side returns a connection success instruction to the vehicle-side using the same frequency;

[0013] If the station does not receive the second connection instruction from the vehicle within the first time range, the station directly sends a third connection instruction. If the vehicle receives the third connection instruction from the station, it returns a connection success instruction to the station using the same frequency.

[0014] If the vehicle side does not receive the third connection instruction sent from the station side, the connection fails and the vehicle leaves the battery swap station.

[0015] As a preferred solution of the unmanned vehicle battery swap station guidance method of the present invention, wherein: the station-side posture detection system obtains real-time posture data of the vehicle, and combines the target vehicle posture including target vehicle contour segmentation and target vehicle posture estimation;

[0016] The target vehicle contour segmentation includes scanning vehicle data by a scanning device, the data may include the surrounding environment of the vehicle, non-important feature data of the vehicle body and other relevant parameters, and forming point cloud clusters according to the data, in which the front end face of the vehicle and the side face of the vehicle body form approximately L-shaped point cloud data;

[0017] The target vehicle pose estimation includes fitting the point cloud data to obtain a straight line L, where the straight line equation is ax+by+c=0, and the deflection angle of the vehicle end face relative to the laser radar coordinate system is

[0018] As a preferred solution of the unmanned vehicle battery swap station guidance method of the present invention, wherein: the station-side posture detection system obtains the real-time posture data of the vehicle, and in combination with the posture of the target vehicle, it also includes:

[0019] Let the height information of the laser radar midpoint be 0, then the two-dimensional point can be expressed in three-dimensional coordinates as [XY 0] T , let the vehicle side point set A be After the deflection angle is adjusted, the new side point set is

[0020] As a preferred solution of the unmanned vehicle battery swap station guidance method of the present invention, wherein: the station-side posture detection system obtains the real-time posture data of the vehicle, and in combination with the posture of the target vehicle, it also includes:

[0021] The X-axis offset of the vehicle relative to the station is:

[0022]

[0023] The Y-axis offset of the vehicle relative to the station is:

[0024]

[0025] Among them, m is the number of points in the point set, X i is the X-axis coordinate value of point i on the side of the vehicle, y i is the Y-axis coordinate value of point i on the side of the vehicle, F iy is the Y-axis coordinate value of point i on the vehicle's cross surface.

[0026] As a preferred solution of the unmanned vehicle battery swap station guidance method of the present invention, wherein: the station-side posture detection system obtains the real-time posture data of the vehicle, and in combination with the posture of the target vehicle, it also includes:

[0027] The position of the target vehicle relative to the station is:

[0028] P=[θΔxΔy] T

[0029] Among them, Δx is the X-axis offset of the vehicle relative to the station, θ is the deflection angle of the vehicle end face relative to the laser radar coordinate system, and Δy is the Y-axis offset of the vehicle relative to the station.

[0030] A driverless vehicle battery swap station guidance system, characterized by: comprising a vehicle end and a station end,

[0031] The vehicle end includes a positioning and navigation system module, a vehicle end communication module and an identity feature module;

[0032] The positioning and navigation system module is used to obtain the station location information and the vehicle location information, and provide the shortest route information for the vehicle;

[0033] The identity feature module is used to store parameter information contained in the vehicle;

[0034] The vehicle-side communication module is used to send and / or receive connection instructions, establish a communication line between the station-side and the vehicle-side, and transmit the information stored in the identity feature module to the station-side identity recognition module;

[0035] The station-end battery swap station includes a central processing module, a posture detection system module, a station-end communication module, and an identity recognition module;

[0036] The central processing module is used to process the vehicle posture data to form vehicle posture correction data;

[0037] The posture detection system module is used to collect vehicle-side posture data in real time and upload it to the central processing module;

[0038] The station-side communication module is used to send and / or receive connection instructions to establish a communication line between the station-side and the vehicle-side;

[0039] The identity recognition module is used to obtain the parameter information of the vehicle contained in the identity feature module through the station-side communication module to perform identity confirmation.

[0040] As a preferred solution of the unmanned vehicle battery swap station guidance system of the present invention, it also includes:

[0041] When the vehicle drives to the vicinity of the station end through the positioning and navigation system module, the vehicle-end communication module establishes a connection with the station-end communication module, and the identity recognition module identifies the information contained in the identity feature module to perform identity confirmation. The identity confirmation process is carried out simultaneously with the vehicle entering the station. During the vehicle entering the station, the posture detection system module detects and collects vehicle posture data in real time and uploads it to the central processing module. The central processing module processes the received vehicle posture data to form a vehicle posture correction data volume, and returns the data volume to the vehicle end. The vehicle corrects its own posture while driving according to the posture correction data volume, and the posture when parking is the vehicle posture required by the battery swap station.

[0042] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the above method when executing the computer program.

[0043] A computer-readable storage medium stores a computer program thereon, wherein the computer program implements the steps of the method described above when executed by a processor.

[0044] Beneficial effects of the present invention: The present invention proposes a method and system for guiding an unmanned vehicle to a battery swap station, which obtains the battery swap station location within the first threshold range of the vehicle according to the vehicle-side positioning system, and drives the vehicle to the battery swap station location; when the distance between the vehicle and the battery swap station location is less than the second threshold, the vehicle and the battery swap station simultaneously issue a first connection instruction to determine whether the vehicle-side communication module and the station-side communication module are connected, and if connected, the station-side identity recognition module identifies the vehicle; the station-side posture detection system obtains the real-time posture data of the vehicle, combines the posture of the target vehicle, obtains the posture correction data of the vehicle, and transmits the posture correction data to the vehicle-side; the vehicle-side completes the guidance of the unmanned vehicle to the battery swap station according to the posture correction amount. The present invention provides a positioning method for an unmanned vehicle at a battery swap station, corrects the positioning error of the unmanned vehicle itself, and improves the parking accuracy of the vehicle during battery swap. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0046] Figure 1 A flow chart of a method and system method for guiding an unmanned vehicle to a battery swap station according to an embodiment of the present invention;

[0047] Figure 2 An internal structural diagram of a computer device of a driverless vehicle battery swap station guidance method and system provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0051] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0052] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] Example 1

[0055] Reference Figure 1-2 , which is the first embodiment of the present invention, and provides a method and system for guiding an unmanned vehicle to a battery swap station, including:

[0056] Obtain the location of the battery swap station within the first threshold range of the vehicle according to the vehicle-side positioning system, and drive the vehicle to the location of the battery swap station;

[0057] Furthermore, when the distance between the vehicle and the battery swap station is less than a second threshold, the vehicle and the battery swap station simultaneously send a first connection instruction to determine whether the vehicle-side communication module and the station-side communication module are connected. If so, the station-side identity recognition module identifies the vehicle;

[0058] Furthermore, if it is determined that the vehicle-side communication module and the station-side communication module are not connected, the station-side stops sending the connection instruction, and the vehicle-side sends a second connection instruction. After the station-side receives the second connection instruction from the vehicle-side within the first time range, it returns a connection success instruction to the vehicle-side using the same frequency.

[0059] It should be noted that if the station end does not receive the second connection instruction sent from the vehicle end within the first time range, the station end directly sends a third connection instruction. If the vehicle end receives the third connection instruction sent from the station end, it returns a connection success instruction to the station end using the same frequency.

[0060] Furthermore, if the vehicle side does not receive the third connection instruction sent from the station side, the connection fails and the vehicle leaves the battery swap station.

[0061] It should be noted that, in this embodiment, the first threshold is 5km, the second threshold is 0.3km, the first connection instruction is a wireless instruction issued simultaneously by the vehicle and the battery swap station at the same frequency and time, the first time range is 5min, the second connection instruction is a wireless instruction issued by the vehicle after changing the channel, and the third connection instruction is a wireless instruction issued by the battery swap station after changing the channel. However, the present invention does not make specific restrictions on the first threshold, the second threshold, the first connection instruction, the first time range, the second connection instruction and the third connection instruction.

[0062] Furthermore, the station-side posture detection system obtains the real-time posture data of the vehicle, combines the posture of the target vehicle, obtains the posture correction data of the vehicle, and transmits the posture correction data to the vehicle side;

[0063] Furthermore, the station-side posture detection system obtains the real-time posture data of the vehicle, and combines the posture of the target vehicle including the target vehicle contour segmentation and the target vehicle posture estimation;

[0064] It should be noted that the target vehicle contour segmentation includes scanning the vehicle data through a scanning device, the data will include the vehicle surroundings, non-important feature data of the vehicle body and other relevant parameters, and forming point cloud clusters based on the data. In the point cloud cluster data, the front end face and the side face of the vehicle body form approximately L-shaped point cloud data;

[0065] Furthermore, the target vehicle pose estimation includes fitting the point cloud data to obtain a straight line L, where the straight line equation is ax+by+c=0, and the deflection angle of the vehicle end face relative to the laser radar coordinate system is

[0066] Furthermore, if the height information of the laser radar midpoint is 0, then the two-dimensional point can be expressed in three-dimensional coordinates as [XY 0] T , let the vehicle side point set A be After the deflection angle is adjusted, the new side point set is

[0067] Furthermore, the station-side posture detection system obtains the real-time posture data of the vehicle, and combined with the target vehicle posture, the X-axis offset of the vehicle relative to the station is:

[0068]

[0069] The Y-axis offset of the vehicle relative to the station is:

[0070]

[0071] Among them, m is the number of points in the point set, X i is the X-axis coordinate value of point i on the side of the vehicle, y iis the Y-axis coordinate value of point i on the side of the vehicle, F iy is the Y-axis coordinate value of point i on the vehicle's cross surface.

[0072] Furthermore, the station-side posture detection system obtains the real-time posture data of the vehicle, and the posture of the target vehicle relative to the station is also included in combination with the posture of the target vehicle:

[0073] P=[θ Δx Δy] T

[0074] Among them, Δx is the X-axis offset of the vehicle relative to the station, θ is the deflection angle of the vehicle end face relative to the laser radar coordinate system, and Δy is the Y-axis offset of the vehicle relative to the station.

[0075] The vehicle side guides the unmanned vehicle to the battery swap station based on the posture correction value.

[0076] In a preferred embodiment, a driverless vehicle battery swap station guidance system includes a vehicle end and a station end.

[0077] The vehicle side includes a positioning and navigation system module, a vehicle side communication module, and an identity feature module;

[0078] The positioning and navigation system module is used to obtain the station location information and the vehicle location information, and provide the shortest route information for the vehicle;

[0079] The identity feature module is used to save the parameter information contained in the vehicle;

[0080] The vehicle-side communication module is used to send and / or receive connection instructions, establish a communication line between the station-side and the vehicle-side, and transmit the information stored in the identity feature module to the station-side identity recognition module;

[0081] The station-side battery swap station includes a central processing module, a posture detection system module, a station-side communication module, and an identity recognition module;

[0082] The central processing module is used to process the vehicle posture data to form vehicle posture correction data;

[0083] The posture detection system module is used to collect vehicle-side posture data in real time and upload it to the central processing module;

[0084] The station-side communication module is used to send and / or receive connection instructions to establish a communication line between the station-side and the vehicle-side;

[0085] The identity recognition module is used to obtain the parameter information of the vehicle contained in the identity feature module through the station-side communication module to confirm the identity.

[0086] It should be noted that when the vehicle drives to the vicinity of the station end through the positioning and navigation system module, the vehicle-end communication module establishes a connection with the station-end communication module, the identity recognition module identifies the information contained in the identity feature module, and performs identity confirmation. The identity confirmation process is carried out simultaneously with the vehicle entering the station. During the vehicle entering the station, the posture detection system module detects and collects the vehicle posture data in real time, and uploads it to the central processing module. The central processing module processes the received vehicle posture data to form a vehicle posture correction data volume, and returns the data volume to the vehicle end. The vehicle corrects its own posture while driving according to the posture correction data volume, and the posture when parking is the vehicle posture required by the battery swap station.

[0087] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0088] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 2 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for guiding an unmanned vehicle to a power station. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the computer device, or an external keyboard, touchpad or mouse.

[0089] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0090] Obtain the location of the battery swap station within the first threshold range of the vehicle according to the vehicle-side positioning system, and drive the vehicle to the location of the battery swap station;

[0091] When the distance between the vehicle and the battery swap station is less than the second threshold, the vehicle and the battery swap station simultaneously send a first connection instruction to determine whether the vehicle-side communication module and the station-side communication module are connected. If so, the station-side identity recognition module identifies the vehicle;

[0092] The station-side posture detection system obtains the real-time posture data of the vehicle, combines it with the posture of the target vehicle, obtains the vehicle posture correction data, and transmits the posture correction data to the vehicle side;

[0093] The vehicle side guides the unmanned vehicle to the battery swap station based on the posture correction value.

[0094] Example 2

[0095] Reference Figure 1-2 , which is an embodiment of the present invention, provides a method and system for guiding an unmanned vehicle in a battery swap station. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through comparative experiments.

[0096] This solution includes vehicles and battery swap stations. The vehicle includes a positioning navigation system, a vehicle-side communication module, and an identity feature module. The vehicle-side communication module is a WIFI module client, and the identity feature module is an RFID tag. Each tag has a one-to-one correspondence with the vehicle, and the tag and vehicle information need to be preprocessed. Preprocessing refers to entering the vehicle information into the RFID tag and the central processing module.

[0097] The battery swap station includes a central processing module, a posture detection system, a station-side communication module, and an identity recognition module. The central processing module is an industrial computer, the posture detection system is a two-dimensional laser radar, the station-side communication module is a WIFI-AP terminal, and the identity recognition module is an RFID recognition unit.

[0098] After the vehicle drives to the vicinity of the battery swap station through the positioning and guidance system, the vehicle-side WIFI module establishes a communication connection with the station-side WIFI module, and the station-side RFID identification unit identifies the vehicle's RFID tag, matches the vehicle information read from the RFID tag with the vehicle information entered by the central processing module, and confirms the identity information of the incoming vehicle. During the vehicle's entry into the station, the two-dimensional laser radar continuously scans the vehicle's outer contour to obtain the vehicle's outer contour point cloud data. The industrial computer clusters the point cloud, and then extracts the relevant features of the cluster. After the vehicle contour cluster is separated from all clusters, based on the symmetry features of the vehicle point cloud, its line or surface features are extracted to complete the accurate estimation of the target vehicle's posture. Finally, based on the estimation results, the vehicle's posture is adjusted so that it can move smoothly to the preset position.

[0099] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

[0100] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0101] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0102] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0104] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0105] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for guiding an unmanned vehicle to a battery swap station, characterized in that: include, Obtain the location of the battery swap station within the first threshold range of the vehicle according to the vehicle-side positioning system, and drive the vehicle to the location of the battery swap station; When the distance between the vehicle and the battery swap station is less than the second threshold, the vehicle and the battery swap station simultaneously send a first connection instruction to determine whether the vehicle-side communication module and the station-side communication module are connected. If so, the station-side identity recognition module identifies the vehicle; The station-side posture detection system obtains the real-time posture data of the vehicle, combines it with the posture of the target vehicle, obtains the vehicle posture correction data, and transmits the posture correction data to the vehicle side; The vehicle side completes the guidance of the unmanned vehicle to the power swap station according to the posture correction data; If it is determined that the vehicle-side communication module and the station-side communication module are not connected, the station-side stops sending the connection instruction, and the vehicle-side sends a second connection instruction. After the station-side receives the second connection instruction from the vehicle-side within the first time range, it returns a connection success instruction to the vehicle-side using the same frequency; If the station does not receive the second connection instruction from the vehicle within the first time range, the station directly sends a third connection instruction. If the vehicle receives the third connection instruction from the station, it returns a connection success instruction to the station using the same frequency. If the vehicle side does not receive the third connection instruction sent from the station side, the connection fails and the vehicle leaves the battery swap station; The station-side posture detection system acquires real-time posture data of the vehicle, and combines the posture of the target vehicle to include target vehicle contour segmentation and target vehicle posture estimation; The target vehicle contour segmentation includes scanning vehicle data by a scanning device, the data may include the surrounding environment of the vehicle, non-important feature data of the vehicle body and other relevant parameters, and forming point cloud clusters according to the data, in which the front end face of the vehicle and the side face of the vehicle body form approximately L-shaped point cloud data; The target vehicle pose estimation includes fitting the point cloud data to obtain a straight line L, where the straight line equation is ax+by+c=0, and the deflection angle of the vehicle end face relative to the laser radar coordinate system is 2. The unmanned vehicle battery swap station guidance method according to claim 1, characterized in that: The station-side posture detection system obtains real-time vehicle posture data, and in combination with the target vehicle posture, further includes: Let the height information of the laser radar midpoint be 0, then the two-dimensional point can be expressed in three-dimensional coordinates as [XY0] T , let the vehicle side point set A be After the deflection angle is adjusted, the new side point set is 3. The unmanned vehicle battery swap station guidance method according to claim 2, characterized in that: The station-side posture detection system obtains real-time vehicle posture data, and in combination with the target vehicle posture, further includes: The X-axis offset of the vehicle relative to the station is: The Y-axis offset of the vehicle relative to the station is: Among them, m is the number of points in the point set, X i is the X-axis coordinate value of point i on the side of the vehicle, y i is the Y-axis coordinate value of point i on the side of the vehicle, F iy is the Y-axis coordinate value of point i on the vehicle's cross surface.

4. The unmanned vehicle battery swap station guidance method according to claim 3, characterized in that: The station-side posture detection system obtains real-time vehicle posture data, and in combination with the target vehicle posture, further includes: The position of the target vehicle relative to the station is: T P=θΔxΔy Among them, Δx is the X-axis offset of the vehicle relative to the station, θ is the deflection angle of the vehicle end face relative to the laser radar coordinate system, and Δy is the Y-axis offset of the vehicle relative to the station.

5. A system using the unmanned vehicle battery swap station guidance method as claimed in claim 1, characterized in that: Including the vehicle side and the station side, The vehicle end includes a positioning and navigation system module, a vehicle end communication module and an identity feature module; The positioning and navigation system module is used to obtain the station location information and the vehicle location information, and provide the shortest route information for the vehicle; The identity feature module is used to store parameter information contained in the vehicle; The vehicle-side communication module is used to send and / or receive connection instructions, establish a communication line between the station-side and the vehicle-side, and transmit the information stored in the identity feature module to the station-side identity recognition module; The station-end battery swap station includes a central processing module, a posture detection system module, a station-end communication module, and an identity recognition module; The central processing module is used to process the vehicle posture data to form vehicle posture correction data; The posture detection system module is used to collect vehicle-side posture data in real time and upload it to the central processing module; The station-side communication module is used to send and / or receive connection instructions to establish a communication line between the station-side and the vehicle-side; The identity recognition module is used to obtain the parameter information of the vehicle contained in the identity feature module through the station-side communication module to perform identity confirmation.

6. The unmanned vehicle battery swap station guidance system according to claim 5, characterized in that: Also includes, When the vehicle drives to the vicinity of the station end through the positioning and navigation system module, the vehicle-end communication module establishes a connection with the station-end communication module, and the identity recognition module identifies the information contained in the identity feature module to perform identity confirmation. The identity confirmation process is carried out simultaneously with the vehicle entering the station. During the vehicle entering the station, the posture detection system module detects and collects vehicle posture data in real time and uploads it to the central processing module. The central processing module processes the received vehicle posture data to form a vehicle posture correction data volume, and returns the data volume to the vehicle end. The vehicle corrects its own posture while driving according to the posture correction data volume, and the posture when parking is the vehicle posture required by the battery swap station.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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