Vehicle docking control method and device, and vehicle

Abstract

The present disclosure relates to the technical field of vehicles. A vehicle docking control method, device and vehicle are provided. The method comprises: obtaining actual position information of a plurality of first positioning points arranged on a first docking device and actual position information of a plurality of second positioning points arranged on a second docking device, wherein the second positioning points correspond to the first positioning points one by one; controlling the first docking device to perform pose adjustment according to the actual position information of at least one first positioning point and the actual position information of at least one second positioning point; and controlling the first docking device to perform position adjustment according to actual position information of a target positioning point pair and target position information of the target positioning point pair stored in advance, so as to complete connection with the second docking device. In this way, docking accuracy can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and more specifically, to a vehicle docking control method, device, and vehicle. Background Technology

[0002] Vehicle docking refers to the process of connecting one vehicle to another to achieve fast, safe, and efficient transportation of goods. Currently, the common methods for docking two vehicles are manual or manual-assisted electric methods. Manual docking is inefficient, time-consuming, has poor docking accuracy, and wastes manpower.

[0003] The prerequisite for automatic docking between two vehicles is obtaining their relative positions and orientations. The more accurate the relative positions and orientations, the better the docking effect. Existing docking control methods involve docking mechanisms designed with multiple sensor systems, such as vision sensors, laser rangefinders, and force sensors. These systems require the cooperation of various sensors, resulting in a large number of sensing elements and a cumbersome control process, making it difficult to achieve efficient and accurate docking. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a vehicle docking control method, device and vehicle.

[0005] According to a first aspect of the present disclosure, a vehicle docking control method is provided, the method comprising:

[0006] The actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device are obtained. The second positioning points correspond one-to-one with the first positioning points. The first docking device is installed on the front vehicle and the second docking device is installed on the rear vehicle. The first docking device is used to connect with the second docking device to dock the front vehicle and the rear vehicle.

[0007] Based on the actual position information of at least one first positioning point and at least one second positioning point, the first docking device is controlled to adjust its posture so that the first docking device and the second docking device do not collide in space.

[0008] Based on the actual location information of the target positioning point pair and the target location information of the pre-stored target positioning point pair, the first docking device is controlled to adjust its position so that the actual location information of the target positioning point pair is consistent with the target location information. The target positioning point pair includes a first positioning point and a second positioning point corresponding to the first positioning point.

[0009] Optionally, based on the actual position information of at least one first positioning point and at least one second positioning point, the first docking device is controlled to perform pose adjustment, including:

[0010] Based on the actual position information of multiple first positioning points and multiple second positioning points, determine the pitch angle and roll angle between the first docking device and the second docking device;

[0011] The first docking device is controlled to rotate based on the pitch and roll angles.

[0012] Optionally, the first positioning point includes a plurality of first horizontal positioning points arranged along the horizontal direction of the first docking device and a plurality of first vertical positioning points arranged along the vertical direction of the first docking device; the second positioning point includes a plurality of second horizontal positioning points arranged along the horizontal direction of the second docking device and a plurality of second vertical positioning points arranged along the vertical direction of the second docking device.

[0013] Based on the actual position information of multiple first positioning points and multiple second positioning points, the pitch angle and roll angle between the first docking device and the second docking device are determined, including:

[0014] Based on the actual position information of each first horizontal positioning point, the normal vector of the horizontal positioning plane of the first docking device is determined, and based on the actual position information of each first vertical positioning point, the normal vector of the vertical positioning plane of the first docking device is determined.

[0015] Based on the actual position information of each second horizontal positioning point, the normal vector of the horizontal positioning plane of the second docking device is determined, and based on the actual position information of each second vertical positioning point, the normal vector of the vertical positioning plane of the second docking device is determined.

[0016] The angle between the normal vectors of the horizontal positioning planes of the first docking device and the second docking device is determined as the pitch angle;

[0017] The angle between the normal vectors of the vertical positioning planes of the first docking device and the second docking device is determined as the tilt angle.

[0018] Optionally, based on the actual position information of at least one first positioning point and at least one second positioning point, the first docking device is controlled to perform pose adjustment, including:

[0019] Based on the actual position information of the target positioning point pair, as well as the relative position information of the first positioning point and the outline of the first docking device in the pre-stored target positioning point pair and the relative position information of the second positioning point and the outline of the second docking device in the target positioning point pair, the current outline information of the first docking device and the current outline information of the second docking device are determined.

[0020] Based on the current contour information of the first docking device and the current contour information of the second docking device, determine the target direction in which the first docking device and the second docking device overlap in position, and determine the target movement distance of the first docking device in the target direction.

[0021] Control the first docking device to move the target distance in the target direction.

[0022] Optionally, the contour information of the first docking device includes the minimum limit position information and the maximum limit position information of the contour of the first docking device in each preset direction, and the contour information of the second docking device includes the minimum limit position information and the maximum limit position information of the contour of the second docking device in each preset direction.

[0023] Based on the current contour information of the first docking device and the current contour information of the second docking device, determine the target direction in which the first docking device and the second docking device overlap in position, and determine the target movement distance of the first docking device in the target direction, including:

[0024] If the position intervals of the first docking device and the second docking device in the same preset direction intersect, then the preset direction is determined as the target direction. The position interval of the first docking device in the preset direction is defined by the minimum limit position information and the maximum limit position information of the first docking device in the preset direction, and the position interval of the second docking device in the preset direction is defined by the minimum limit position information and the maximum limit position information of the second docking device in the preset direction.

[0025] The target movement distance of the first docking device in the target direction is determined based on the distance between the minimum limit position of the first docking device and the maximum limit position of the second docking device in the target direction, as well as the preset distance margin.

[0026] Optionally, before the steps of obtaining the actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device, the method further includes:

[0027] Control the lidar to scan the first docking device and the second docking device;

[0028] Based on the reflected signals received by the lidar, the actual position information of the first positioning point and the actual position information of the second positioning point are determined.

[0029] Optionally, positioning patches are provided on the first and second positioning points, and the reflectivity of the positioning patches on different positioning points is different.

[0030] Based on the reflected signals received by the lidar, the actual position information of the first positioning point and the actual position information of the second positioning point are determined, including:

[0031] The location point to which the reflected signal belongs is determined based on the reflectivity of the received reflected signal;

[0032] Based on the time interval between the laser signal emitted by the lidar and the reflected signal received, the distance between the lidar and the positioning point to which the reflected signal belongs is determined. Based on the reflection angle of the reflected signal, the angle between the lidar and the positioning point to which the reflected signal belongs is determined. Based on the distance and angle between the lidar and the positioning point to which the reflected signal belongs, the actual position information of the positioning point to which the reflected signal belongs is determined.

[0033] According to a second aspect of the present disclosure, a vehicle docking control device is provided, the device comprising:

[0034] The acquisition module is configured to acquire the actual position information of multiple first positioning points set on the first docking device and the actual position information of multiple second positioning points set on the second docking device, wherein the second positioning points correspond one-to-one with the first positioning points, the first docking device is installed on the front vehicle and the second docking device is installed on the rear vehicle, and the first docking device is used to connect the second docking device to dock the front vehicle and the rear vehicle.

[0035] The control module is configured to control the first docking device to perform pose adjustment based on the actual position information of at least one first positioning point and at least one second positioning point, so that the first docking device and the second docking device do not collide in space.

[0036] The control module is also configured to control the first docking device to adjust its position based on the actual position information of the target positioning point pair and the target position information of the pre-stored target positioning point pair, so that the actual position information of the target positioning point pair is consistent with the target position information, wherein the target positioning point pair includes one of the first positioning points and a second positioning point corresponding to the first positioning point.

[0037] According to a third aspect of the present disclosure, an electronic device is provided, comprising:

[0038] processor;

[0039] Memory used to store processor-executable instructions;

[0040] The processor is configured to run executable instructions to implement the steps of the vehicle docking control method provided in the first aspect of this disclosure.

[0041] According to a fourth aspect of the present disclosure, a vehicle is provided, including: a first docking device for connecting to a second docking device installed on another vehicle to dock the two vehicles, wherein the first docking device is provided with a plurality of first positioning points, and the second docking device is provided with second positioning points corresponding one-to-one with the first positioning points;

[0042] A lidar is used to scan the first docking device and the second docking device;

[0043] A controller for performing the steps of the vehicle docking control method provided in the first aspect of this disclosure.

[0044] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the vehicle docking control method provided in the first aspect of the present disclosure.

[0045] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0046] In the above technical solution, the actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device are obtained. Based on the actual position information of at least one first positioning point and at least one second positioning point, the first docking device is controlled to adjust its posture to prevent spatial collision between the first and second docking devices. Based on the actual position information of the target positioning point pair and the pre-stored target position information of the target positioning point pair, the first docking device is controlled to adjust its position so that the actual position information of the target positioning point pair matches the target position information, thereby controlling the first docking device to complete docking with the second docking device. The technical solution in this disclosure can pre-store the target position information of a pair of target positioning points. Therefore, during automatic docking, only a small amount of actual position information is needed to determine the relative positions of the first and second docking devices, reducing dependence on hardware equipment and lowering costs. Furthermore, this disclosure controls the first docking device to adjust its posture based on the determined actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device to prevent collision during docking, thereby improving the accuracy and safety of docking.

[0047] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0048] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0049] Figure 1 This is a flowchart illustrating a vehicle docking control method according to an exemplary embodiment;

[0050] Figure 2 This is a schematic diagram showing the position of a first positioning point on a first docking device according to an exemplary embodiment;

[0051] Figure 3 This is a schematic diagram showing the position of a second positioning point on a second docking device according to an exemplary embodiment;

[0052] Figure 4 This is a schematic diagram of the pitch angle of a first docking device and a second docking device according to an exemplary embodiment;

[0053] Figure 5 This is a schematic diagram showing the tilt angle of a first docking device and a second docking device according to an exemplary embodiment;

[0054] Figure 6 This is a structural diagram illustrating a vehicle docking control device according to an exemplary embodiment;

[0055] Figure 7 This is a structural diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0057] Figure 1 This is a flowchart illustrating a vehicle docking control method according to an exemplary embodiment. For example... Figure 1 As shown, the vehicle docking control method may include:

[0058] In step S11, the actual position information of multiple first positioning points set on the first docking device and the actual position information of multiple second positioning points set on the second docking device are obtained. The second positioning points correspond one-to-one with the first positioning points. The first docking device is installed on the front vehicle and the second docking device is installed on the rear vehicle. The first docking device is used to connect with the second docking device to dock the front vehicle and the rear vehicle.

[0059] The actual position information of the first and second positioning points can be obtained based on 3D structured light camera scanning; alternatively, they can be obtained based on RGB binocular scanning. Optionally, in this embodiment, the actual position information of the first and second positioning points can be obtained based on LiDAR scanning. The actual position information can include coordinate position information, which refers to the coordinate position in the following coordinate system: with the LiDAR location as the origin, the direction of travel of the vehicle in front as the Y direction, the direction perpendicular to the ground upwards as the Z direction, and the direction perpendicular to the YOZ plane and to the right as the X direction.

[0060] In step S12, based on the actual position information of at least one first positioning point and at least one second positioning point, the first docking device is controlled to adjust its pose so that the first docking device and the second docking device do not collide in space.

[0061] Collision refers to the contact that occurs when the distance between a part and another part is less than a set gap value. In the embodiments of this disclosure, "no spatial collision between the first docking device and the second docking device" means that there is no possibility of collision between the first docking device and the second docking device during the docking process.

[0062] As one possible implementation, controlling the first docking device to adjust its pose based on the actual position information of at least one first positioning point and at least one second positioning point can be as follows: only considering the possible collisions of the first docking device in the direction of movement, in this case, it is not necessary to have the position information of all the first positioning points and all the second positioning points, only the position information of one first positioning point and the second positioning point corresponding to the first positioning point is needed, so that the first docking device can be controlled to adjust its pose to ensure that the first docking device and the second docking device do not collide in the movement space.

[0063] As another possible implementation, controlling the first docking device to adjust its posture based on the actual position information of at least one first positioning point and at least one second positioning point can also be: considering the possible collisions of the first docking device in the rotation direction, in this case, the position information of multiple first positioning points and multiple second positioning points corresponding one-to-one with the first positioning points is required to control the first docking device to adjust its posture so that the first docking device and the second docking device do not collide in the rotation space.

[0064] In step S13, based on the actual position information of the target positioning point pair and the target position information of the pre-stored target positioning point pair, the first docking device is controlled to adjust its position so that the actual position information of the target positioning point pair is consistent with the target position information. The target positioning point pair includes one of the first positioning points and a second positioning point corresponding to the first positioning point.

[0065] In this embodiment, a first positioning point can be selected from the first docking device. The selected first positioning point and the corresponding second positioning point form the aforementioned target positioning point pair. Furthermore, target position information of the target positioning point pair can be pre-stored. This target position information indicates the location of the first and second positioning points in the target positioning point pair when the first docking device and the second docking device successfully dock. This target position information can be determined through a pre-calibration process.

[0066] Based on the actual position information of the target positioning point pair and the target position information of the pre-stored target positioning point pair, controlling the first docking device to adjust its position can be achieved by controlling the first docking device to move in at least one of the X, Y and Z directions so that the actual position information of the target positioning point pair is consistent with the target position information.

[0067] In the above technical solution, the actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device are obtained. Based on the actual position information of at least one first positioning point and at least one second positioning point, the first docking device is controlled to adjust its posture to prevent spatial collision between the first and second docking devices. Based on the actual position information of the target positioning point pair and the pre-stored target position information of the target positioning point pair, the first docking device is controlled to adjust its position so that the actual position information of the target positioning point pair matches the target position information, thereby controlling the first docking device to complete docking with the second docking device. The technical solution in this disclosure can pre-store the target position information of a pair of target positioning points. Therefore, during automatic docking, only a small amount of actual position information is needed to determine the relative positions of the first and second docking devices, reducing dependence on hardware equipment and lowering costs. Furthermore, this disclosure controls the first docking device to adjust its posture based on the determined actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device to prevent collision during docking, thereby improving the accuracy and safety of docking.

[0068] As one possible implementation, prior to step S11, the vehicle docking control method may include:

[0069] The lidar is controlled to scan the first and second docking devices.

[0070] Based on the reflected signals received by the lidar, the actual position information of the first positioning point and the actual position information of the second positioning point are determined.

[0071] A lidar is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. In this embodiment, the lidar is controlled to emit detection signals (e.g., laser beams) to the first and second docking devices to scan them. The lidar may be, for example, located at the rear of the vehicle.

[0072] For example, the first docking device can be a trailer hitch installed at the rear of the front vehicle, and the second docking device can be a trailer cover installed at the front of the rear vehicle. Multiple first positioning points are set on the first docking device; the position information of each first positioning point can be determined by scanning the first docking device with a lidar. Similarly, multiple second positioning points are set on the second docking device; the position information of each second positioning point can be determined by scanning the second docking device with a lidar.

[0073] By comparing the signals (e.g., target echoes) received by the lidar and reflected from the first and second positioning points with the emitted detection signals, and after relevant processing, target information of the first and second positioning points can be obtained, thereby enabling the detection or identification of the first and second positioning points. The target information may include, but is not limited to, target distance, azimuth, altitude, velocity, or attitude.

[0074] During the docking process between the two vehicles, the docking devices of the front and rear vehicles may interfere with each other structurally. This structural interference can include interference based on assembly angles and distance interference that may occur during movement. Regarding interference based on assembly angles, in one possible implementation, step S12 may further include:

[0075] Based on the actual position information of multiple first positioning points and multiple second positioning points, determine the pitch angle and roll angle between the first docking device and the second docking device;

[0076] The first docking device is controlled to rotate based on the pitch and roll angles.

[0077] Based on the determined pitch and roll angles between the first and second docking devices, the first docking device is controlled to rotate until these angles are adjusted to zero. This ensures that the first and second docking devices are in a relatively parallel state, eliminating interference between them in the rotational space.

[0078] For example, the first docking device is provided with M first positioning points. At this time, based on the actual position information of N first positioning points and the actual position information of the second positioning points that correspond one-to-one with these N first positioning points, the pitch angle and roll angle between the first docking device and the second docking device are determined, where 1 < N ≤ M, and N and M are both integers greater than 1.

[0079] In this disclosure, the first positioning point includes a plurality of first horizontal positioning points arranged along the horizontal direction of the first docking device and a plurality of first vertical positioning points arranged along the vertical direction of the first docking device; the second positioning point includes a plurality of second horizontal positioning points arranged along the horizontal direction of the second docking device and a plurality of second vertical positioning points arranged along the vertical direction of the second docking device; determining the pitch angle and roll angle between the first docking device and the second docking device based on the actual position information of the plurality of first positioning points and the actual position information of the plurality of second positioning points includes:

[0080] Based on the actual position information of each first horizontal positioning point, the normal vector of the horizontal positioning plane of the first docking device is determined, and based on the actual position information of each first vertical positioning point, the normal vector of the vertical positioning plane of the first docking device is determined.

[0081] Based on the actual position information of each second horizontal positioning point, the normal vector of the horizontal positioning plane of the second docking device is determined, and based on the actual position information of each second vertical positioning point, the normal vector of the vertical positioning plane of the second docking device is determined.

[0082] The angle between the normal vectors of the horizontal positioning planes of the first docking device and the second docking device is determined as the pitch angle;

[0083] The angle between the normal vectors of the vertical positioning planes of the first docking device and the second docking device is determined as the tilt angle.

[0084] For example, please refer to Figure 2 and Figure 3 The first docking device has four first positioning points, namely positioning point 1, positioning point 2, positioning point 3, and positioning point 4; the second docking device has four second positioning points, each corresponding to one of the first positioning points, namely positioning point 5, positioning point 6, positioning point 7, and positioning point 8. Positioning point 1 corresponds to positioning point 5, positioning point 2 corresponds to positioning point 6, positioning point 3 corresponds to positioning point 7, and positioning point 4 corresponds to positioning point 8. The actual position coordinates of positioning point 1 are (X1, Y1, Z1), the actual position coordinates of positioning point 2 are (X2, Y2, Z2), the actual position coordinates of positioning point 3 are (X3, Y3, Z3), and the actual position coordinates of positioning point 4 are (X4, Y4, Z4).

[0085] Please see Figure 4 and Figure 5 Positioning points 1, 2, and 3 define the horizontal positioning plane 9 of the first docking device. This horizontal positioning plane includes a first vector, a second vector, and a third vector. The coordinates of the first vector are (X2-X1, Y2-Y1, Z2-Z1), the coordinates of the second vector are (X3-X1, Y3-Y1, Z3-Z1), and the coordinates of the third vector are (X3-X2, Y3-Y2, Z3-Z2). The coordinates of the normal vector 15 of the horizontal positioning plane 9 are (a, b, c). The normal vector 15 of the horizontal positioning plane 9 of the first docking device is calculated using the following formula:

[0086]

[0087] Similarly, the vertical positioning plane 10 of the first docking device is determined based on positioning point 1, positioning point 2, and positioning point 4. The vertical positioning plane 10 includes a first vector, a fourth vector, and a fifth vector. The position coordinates corresponding to the first vector are (X2-X1, Y2-Y1, Z2-Z1), the position coordinates corresponding to the fourth vector are (X4-X1, Y4-Y1, Z4-Z1), and the position coordinates corresponding to the fifth vector are (X4-X2, Y4-Y2, Z4-Z2). Based on the above calculation method, the position coordinates corresponding to the normal vector 16 of the vertical positioning plane 10 of the first docking device are determined.

[0088] Similarly, positioning points 5, 6, and 7 determine the horizontal positioning plane 11 of the second docking device. The horizontal positioning plane 11 includes a sixth vector, a seventh vector, and an eighth vector. The position coordinates corresponding to the sixth vector are (X6-X5, Y6-Y5, Z6-Z5), the position coordinates corresponding to the seventh vector are (X7-X5, Y7-Y5, Z7-Z5), and the position coordinates corresponding to the eighth vector are (X7-X6, Y7-Y6, Z7-Z6). Based on the above calculation method, the position coordinates corresponding to the normal vector 17 of the horizontal positioning plane 11 of the second docking device are determined.

[0089] Similarly, positioning points 5, 6, and 8 determine the vertical positioning plane 12 of the second docking device. The vertical positioning plane 12 includes a sixth vector, a ninth vector, and a tenth vector. The position coordinates corresponding to the sixth vector are (X6-X5, Y6-Y5, Z6-Z5), the position coordinates corresponding to the ninth vector are (X8-X5, Y8-Y5, Z8-Z5), and the position coordinates corresponding to the tenth vector are (X8-X6, Y8-Y6, Z8-Z6). Based on the above calculation method, the position coordinates corresponding to the normal vector 18 of the vertical positioning plane 12 of the second docking device are determined.

[0090] After determining the position coordinates of normal vector 15, the positive vector direction of normal vector 15 is determined based on positioning point 4. In this embodiment, the positive vector direction is determined by whether the product of the vector determined with positioning point 3 as the vector starting point and positioning point 4 as the vector ending point and normal vector 15 is greater than 0. If the product of the vector determined with positioning point 3 as the vector starting point and positioning point 4 as the vector ending point and normal vector 15 is greater than 0, then the existing direction of normal vector 15 is determined as the positive vector direction; if the product of the vector determined with positioning point 3 as the vector starting point and positioning point 4 as the vector ending point and normal vector 15 is less than 0, then the direction opposite to the existing normal vector 15 is determined as the positive vector direction.

[0091] Similarly, after determining the position coordinates of normal vector 16, the positive vector direction of normal vector 16 is determined based on positioning point 3. In this embodiment, the positive vector direction is determined by whether the product of the vector determined with positioning point 3 as the vector starting point and positioning point 1 as the vector ending point and normal vector 16 is greater than 0. If the product of the vector determined with positioning point 3 as the vector starting point and positioning point 1 as the vector ending point and normal vector 16 is greater than 0, then the existing direction of normal vector 16 is determined as the positive vector direction; if the product of the vector determined with positioning point 3 as the vector starting point and positioning point 1 as the vector ending point and normal vector 16 is less than 0, then the direction opposite to the existing normal vector 16 is determined as the positive vector direction.

[0092] Similarly, after determining the position coordinates of normal vector 17, the positive vector direction of normal vector 17 is determined based on positioning point 8. In this embodiment, the positive vector direction is determined by whether the product of the vector determined with positioning point 7 as the vector starting point and positioning point 8 as the vector ending point and normal vector 17 is greater than 0. If the product of the vector determined with positioning point 7 as the vector starting point and positioning point 8 as the vector ending point and normal vector 17 is greater than 0, then the existing direction of normal vector 17 is determined as the positive vector direction; if the product of the vector determined with positioning point 7 as the vector starting point and positioning point 8 as the vector ending point and normal vector 17 is less than 0, then the direction opposite to the existing normal vector 17 is determined as the positive vector direction.

[0093] Similarly, after determining the position coordinates of normal vector 18, the positive vector direction of normal vector 18 is determined based on positioning point 7. In this embodiment, the positive vector direction is determined by whether the product of the vector determined with positioning point 7 as the vector starting point and positioning point 5 as the vector ending point and normal vector 18 is greater than 0. If the product of the vector determined with positioning point 7 as the vector starting point and positioning point 5 as the vector ending point and normal vector 18 is greater than 0, then the existing direction of normal vector 18 is determined as the positive vector direction; if the product of the vector determined with positioning point 7 as the vector starting point and positioning point 5 as the vector ending point and normal vector 18 is less than 0, then the direction opposite to the existing normal vector 18 is determined as the positive vector direction.

[0094] The angle 19 between the two vectors can be calculated based on the cosine values ​​of the normal vector 15 of the horizontal positioning plane 9 of the first docking device and the normal vector 17 of the horizontal positioning plane 11 of the second docking device. This angle 19 is the angle between the horizontal positioning plane of the first docking device and the horizontal positioning plane of the second docking device, and this angle 19 is determined as the pitch angle.

[0095] The angle 20 between the two vectors can be calculated based on the cosine of the normal vector 16 of the vertical positioning plane 10 of the first docking device and the normal vector 18 of the horizontal positioning plane 12 of the second docking device. This angle 20 is the angle between the vertical positioning plane of the first docking device and the vertical positioning plane of the second docking device, and this angle 20 is determined as the tilt angle.

[0096] Based on the determined pitch and roll angles, the first docking device is controlled to rotate horizontally, with the rotation angle corresponding to angle 19; the first docking device is also controlled to rotate vertically, with the rotation angle corresponding to angle 20. By controlling the rotation of the first docking device in the horizontal and / or vertical directions, the adjusted pitch and / or roll angles are made zero, thereby ensuring that there is no interference between the first and second docking devices in the rotational space.

[0097] In response to potential distance interference that may occur during movement, in another possible implementation, step S13 may further include:

[0098] Based on the actual position information of the target positioning point pair, as well as the relative position information of the first positioning point and the outline of the first docking device in the pre-stored target positioning point pair and the relative position information of the second positioning point and the outline of the second docking device in the target positioning point pair, the current outline information of the first docking device and the current outline information of the second docking device are determined.

[0099] Based on the current contour information of the first docking device and the current contour information of the second docking device, determine the target direction in which the first docking device and the second docking device overlap in position, and determine the target movement distance of the first docking device in the target direction.

[0100] Control the first docking device to move the target distance in the target direction.

[0101] In this embodiment, the relative position information between the first positioning point in the target positioning point pair and the outline of the first docking device can be pre-stored. This relative position information is used to characterize the relative position of the first positioning point in the target positioning point pair relative to the outline of the first docking device when the first docking device and the second docking device are successfully docked. Similarly, the relative position information between the second positioning point in the target positioning point pair and the outline of the second docking device is also pre-stored. This relative position information is used to characterize the relative position of the second positioning point in the target positioning point pair relative to the outline of the second docking device when the first docking device and the second docking device are successfully docked.

[0102] Thus, once the actual position information of the target positioning point pair is obtained, the current contour information of the first docking device and the current contour information of the second docking device can be determined based on the aforementioned pre-stored relative position information. For example, the current contour information of the first docking device is determined based on the actual position information of the first positioning point in the target positioning point pair and the relative position information of the first positioning point and the contour of the first docking device; and the current contour information of the second docking device is determined based on the actual position information of the second positioning point in the target positioning point pair and the relative position information of the second positioning point and the contour of the second docking device.

[0103] In this disclosure, the contour information of the first docking device includes the minimum and maximum limit position information of the contour of the first docking device in various preset directions, and the contour information of the second docking device includes the minimum and maximum limit position information of the contour of the second docking device in various preset directions. The preset directions include the X, Y, and Z directions mentioned above. The minimum and maximum limit position information in a certain direction respectively characterize the minimum and maximum coordinate values ​​in that direction.

[0104] After determining the current contour information of the first docking device and the second docking device, the target direction in which the first docking device and the second docking device overlap in position can be determined.

[0105] Optionally, based on the current contour information of the first docking device and the current contour information of the second docking device, determining the target direction in which the first docking device and the second docking device overlap in position, and determining the target movement distance of the first docking device in the target direction, may include:

[0106] If the position intervals of the first docking device and the second docking device in the same preset direction intersect, then the preset direction is determined as the target direction. The position interval of the first docking device in the preset direction is defined by the minimum limit position information and the maximum limit position information of the first docking device in the preset direction, and the position interval of the second docking device in the preset direction is defined by the minimum limit position information and the maximum limit position information of the second docking device in the preset direction.

[0107] The target movement distance of the first docking device in the target direction is determined based on the distance between the minimum limit position of the first docking device and the maximum limit position of the second docking device in the target direction, as well as the preset distance margin.

[0108] For example, the maximum limit position of the outline of the first docking device in the X direction of the three-dimensional coordinate system is determined to be X22, the minimum limit position of the outline of the first docking device in the X direction of the three-dimensional coordinate system is X21, the maximum limit position of the outline of the first docking device in the Y direction of the three-dimensional coordinate system is Y33, the minimum limit position of the outline of the first docking device in the Y direction of the three-dimensional coordinate system is Y31, the maximum limit position of the outline of the first docking device in the Z direction of the three-dimensional coordinate system is Z44, and the minimum limit position of the outline of the first docking device in the Z direction of the three-dimensional coordinate system is Z41; the maximum limit position of the outline of the second docking device in the X direction of the three-dimensional coordinate system is X55, the minimum limit position of the outline of the second docking device in the X direction of the three-dimensional coordinate system is X51, the maximum limit position of the outline of the second docking device in the Y direction of the three-dimensional coordinate system is Y66, the minimum limit position of the outline of the second docking device in the Y direction of the three-dimensional coordinate system is Y61, the maximum limit position of the outline of the second docking device in the Z direction of the three-dimensional coordinate system is Z77, and the minimum limit position of the outline of the second docking device in the Z direction of the three-dimensional coordinate system is Z71. Determine whether the two position intervals (X21, X22) and (X51, X55) intersect, i.e., share an interval. If the two position intervals (X21, X22) and (X51, X55) intersect, then the first docking device and the second docking device overlap in the X direction, i.e., the X direction is the target direction. Determine whether the two position intervals (Y31, Y33) and (Y61, Y66) intersect. If the two position intervals (Y31, Y33) and (Y61, Y66) intersect, then the first docking device and the second docking device overlap in the Y direction, i.e., the Y direction is the target direction. Determine whether the two position intervals (Z41, Z44) and (Z71, Z77) intersect. If the two position intervals (Z41, Z44) and (Z71, Z77) intersect, then the first docking device and the second docking device overlap in the Z direction, i.e., the Z direction is the target direction.

[0109] Then, based on the distance between the minimum limit position of the first docking device in the target direction and the maximum limit position of the second docking device in the target direction, as well as the preset distance margin, the target movement distance of the first docking device in the target direction is determined.

[0110] For example, if it is determined that there is overlap between the first docking device and the second docking device in the X direction, then the first docking device is controlled to move in the X direction, with the moving direction being the positive direction of the X-axis. The moving distance is the sum of the absolute value of the difference between the minimum limit position of the contour of the first docking device in the X direction of the three-dimensional coordinate system and the maximum limit position of the contour of the second docking device in the X direction of the three-dimensional coordinate system, plus a preset distance margin. For example, following the above example, the moving distance expression can be: |X21-X55|+5. After the first docking device moves, the first docking device and the second docking device will not overlap in the X direction. The preset distance margin can be set according to the actual anti-collision requirements, for example, it can be set to 5cm, and this disclosure does not limit it.

[0111] For example, if it is determined that there is overlap between the first docking device and the second docking device in the Y direction, then the first docking device is controlled to move in the Y direction, with the moving direction being the positive direction of the Y axis. The moving distance is the sum of the absolute value of the difference between the minimum limit position of the contour of the first docking device in the Y direction of the three-dimensional coordinate system and the maximum limit position of the contour of the second docking device in the Y direction of the three-dimensional coordinate system, plus a preset distance margin. For example, following the above example, the moving distance expression can be: |Y31-Y66|+5. After the first docking device moves, the first docking device and the second docking device will not overlap in the Y direction. The preset distance margin can be set according to the actual anti-collision requirements, for example, it can be set to 5cm, and this disclosure does not limit it.

[0112] For example, if it is determined that there is overlap between the first docking device and the second docking device in the Z direction, then the first docking device is controlled to move in the Z direction, with the moving direction being the positive direction of the Z-axis. The moving distance is the sum of the absolute value of the difference between the minimum limit position of the contour of the first docking device in the Z direction of the three-dimensional coordinate system and the maximum limit position of the contour of the second docking device in the Z direction of the three-dimensional coordinate system, plus a preset distance margin. For example, following the above example, the moving distance expression can be: |Z31-Z66|+5. After the first docking device moves, the first docking device and the second docking device will not overlap in the Z direction. The preset distance margin can be set according to the actual anti-collision requirements, for example, it can be set to 5cm, and this disclosure does not limit it.

[0113] After adjusting the pose of the first docking device to ensure that there is no spatial interference between the first docking device and the second docking device, the first docking device is controlled to adjust its position based on the actual position information of the target positioning point pair and the pre-stored target position information of the target positioning point pair, so that the actual position information of the target positioning point pair is consistent with the target position information.

[0114] For example, the target location information of the first positioning point in the target positioning point pair is (X 11 Y 11 Z 11 The actual position information of the first positioning point in the target positioning point pair is (X). 10 Y 10 Z 10 The target location information of the second positioning point, which corresponds one-to-one with the first positioning point in the target positioning point pair, is (X). 51 Y 51 Z 51 The actual location information of the second positioning point, which corresponds one-to-one with the first positioning point in the target positioning point pair, is (X). 50 Y 50 Z 50 The distance that the first docking device needs to move in the X direction is X. 00 The distance that the first docking device needs to move in the Y direction is Y. 00 The distance that the first docking device needs to move in the Z direction is Z. 00 Calculate and determine X according to the following formulas. 00 Y 00 Z 00 :

[0115] X 10 + X 00 - X 50 = X 11 - X 51 (2)

[0116] Y 10 + Y 00 - Y 50 = Y 11 - Y 51 (3)

[0117] Z 10 + Z 00 - Z 50 = Z 11 - Z 51 (4)

[0118] The moving distances of the first docking device in the X, Y, and Z directions are determined using the method described above. Then, the first docking device is controlled to move in the X direction, with a moving distance of X. 00 Control the first docking device to move in the Y direction, the moving distance being Y. 00 Control the first docking device to move in the Z direction, the moving distance being Z. 00In this way, the actual position information of the target positioning point pair can be consistent with the target position information. It should be noted that the above-mentioned first docking device moving sequentially in the X, Y and Z directions is only an example, and the order in which the first docking device moves in the X, Y and Z directions is not limited here.

[0119] In one possible implementation, prior to step S11, the vehicle docking control method may further include:

[0120] Control the vehicle in front to move towards the vehicle behind until the vehicle in front moves to a preset distance from the vehicle behind.

[0121] The system controls the leading vehicle to move towards the trailing vehicle until it reaches a preset distance. Only then does it activate the lidar for scanning. This avoids invalid scans caused by activating the lidar too early. Furthermore, moving the leading vehicle to the preset distance provides sufficient space for the first docking device to adjust its position, preventing interference between the first and second docking devices during docking due to insufficient space.

[0122] In one possible implementation, positioning patches are provided at the first and second positioning points, with different reflectivities at the different positioning points. These positioning patches can be used to increase the reflectivity of the optical surface, so that the detection signal emitted by the lidar can be reflected.

[0123] In this case, determining the actual position information of the first positioning point and the actual position information of the second positioning point based on the reflected signal received by the lidar can further include:

[0124] The location point to which the reflected signal belongs is determined based on the reflectivity of the received reflected signal;

[0125] Based on the time interval between the laser signal emitted by the lidar and the reflected signal received, the distance between the lidar and the positioning point to which the reflected signal belongs is determined. Based on the reflection angle of the reflected signal, the angle between the lidar and the positioning point to which the reflected signal belongs is determined. Based on the distance and angle between the lidar and the positioning point to which the reflected signal belongs, the actual position information of the positioning point to which the reflected signal belongs is determined.

[0126] As mentioned above, the reflectivity of the positioning patches at different positioning points varies. Therefore, the positioning point to which the reflected signal belongs can be determined based on the reflectivity of the reflected signal received by the lidar, i.e., from which positioning point the reflected signal was reflected. Furthermore, the distance between the lidar and the positioning point to which the reflected signal belongs can be determined based on the time interval between the laser signal's emission time and the reflected signal's reception time. The angle between the lidar and the positioning point to which the reflected signal belongs can be determined based on the reflection angle of the reflected signal. Therefore, based on the distance and angle between the lidar and the positioning point to which the reflected signal belongs, the actual position information of the positioning point to which the reflected signal belongs can be determined, i.e., the coordinates of the positioning point to which the reflected signal belongs in the aforementioned coordinate system.

[0127] In one possible implementation, different locations on the same positioning point can reflect the laser signal, generating corresponding reflected signals. Thus, multiple reflected signals may correspond to the same positioning point. In this case, based on the reflected signals belonging to the same positioning point, the actual position information of the reflecting point corresponding to each reflected signal can be calculated. Then, the actual position information of each reflecting point can be averaged (for example, averaging the three coordinate directions of each reflecting point in the aforementioned coordinate system), and the result is used as the actual position information of the positioning point.

[0128] The target location information of the target positioning point pair mentioned above can also be determined in a similar manner. For example, firstly, the first docking device and the second docking device are successfully docked. Then, the lidar is activated to scan the first and second docking devices. Based on the reflected signals received by the lidar, the location information of each first positioning point and each second positioning point is determined. The location information of the first positioning point determined at this time is used as the target location information of that first positioning point, and the location information of the second positioning point determined is used as the target location information of that second positioning point. One of the first positioning points can be selected, and this first positioning point and its corresponding second positioning point form a target positioning point pair. Accordingly, the determined target location information of the first positioning point and the target location information of the corresponding second positioning point constitute the target location information of the target positioning point pair.

[0129] Furthermore, based on the target position information of the determined target positioning point pair, as well as the outlines of the first docking device and the second docking device, the relative position information of the first positioning point in the target positioning point pair and the outline of the first docking device, and the relative position information of the second positioning point in the target positioning point pair and the outline of the second docking device can be determined.

[0130] For example, firstly, obtain the outline dimensions of the first and second docking devices using manual measurements or information provided by the manufacturer. After successfully docking the first and second docking devices, obtain the outline information of the first and second docking devices in the aforementioned coordinate system based on the outline dimensions. Then, determine the relative position information between the first positioning point and the outline of the first docking device based on the target position information of the first positioning point in the target positioning point pair and the outline information of the first docking device in the aforementioned coordinate system. Similarly, determine the relative position information between the second positioning point and the outline of the second docking device based on the target position information of the second positioning point in the target positioning point pair and the outline information of the second docking device in the aforementioned coordinate system.

[0131] The technical solution of this disclosure can pre-store the target position information of a pair of target positioning points. Therefore, during automatic docking, only a single lidar needs to collect a small amount of position information to determine the relative positions of the first docking device and the second docking device, reducing dependence on hardware equipment and lowering costs. Furthermore, based on the actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device, this disclosure controls the first docking device to adjust its posture to prevent collisions during the docking process, thereby improving the accuracy and safety of the docking.

[0132] In one possible implementation, after step S13, the vehicle docking control method may further include: after controlling the first docking device to adjust its position, controlling the first docking device to perform a locking operation to complete the connection with the second docking device.

[0133] After controlling the first docking device to adjust its posture and position, the first docking device is controlled to perform a locking operation to complete the connection with the second docking device.

[0134] Please see Figure 6 This disclosure also provides a vehicle docking control device 10, which includes:

[0135] The acquisition module 100 is configured to acquire the actual position information of multiple first positioning points set on the first docking device and the actual position information of multiple second positioning points set on the second docking device, wherein the second positioning points correspond one-to-one with the first positioning points, the first docking device is installed on the front vehicle and the second docking device is installed on the rear vehicle, and the first docking device is used to connect with the second docking device to dock the front vehicle and the rear vehicle.

[0136] The control module 110 is configured to control the first docking device to perform pose adjustment based on the actual position information of at least one first positioning point and the actual position information of at least one second positioning point, so that the first docking device and the second docking device do not collide in space.

[0137] The control module 110 is also configured to control the first docking device to perform position adjustment based on the actual position information of the target positioning point pair and the target position information of the pre-stored target positioning point pair, so that the actual position information of the target positioning point pair is consistent with the target position information, wherein the target positioning point pair includes one of the first positioning points and a second positioning point corresponding to the first positioning point.

[0138] The technical solution of this disclosure can pre-store the target position information of a pair of target positioning points. Therefore, during automatic docking, only a small amount of actual position information is needed to determine the relative position of the first docking device and the second docking device, reducing dependence on hardware equipment and lowering costs. Furthermore, based on the actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device, this disclosure controls the first docking device to adjust its posture to prevent collisions during the docking process, thereby improving the accuracy and safety of the docking.

[0139] Optionally, the control module 110 includes:

[0140] The first determining submodule is configured to determine the pitch angle and roll angle between the first docking device and the second docking device based on the actual position information of multiple first positioning points and multiple second positioning points.

[0141] The first control submodule is configured to control the rotation of the first docking device based on the pitch and roll angles.

[0142] Optionally, the first positioning point includes a plurality of first horizontal positioning points arranged along the horizontal direction of the first docking device and a plurality of first vertical positioning points arranged along the vertical direction of the first docking device; the second positioning point includes a plurality of second horizontal positioning points arranged along the horizontal direction of the second docking device and a plurality of second vertical positioning points arranged along the vertical direction of the second docking device; the first determining submodule is further configured to determine the normal vector of the horizontal positioning plane of the first docking device based on the actual position information of each first horizontal positioning point, and to determine the normal vector of the vertical positioning plane of the first docking device based on the actual position information of each first vertical positioning point; to determine the normal vector of the horizontal positioning plane of the second docking device based on the actual position information of each second horizontal positioning point, and to determine the normal vector of the vertical positioning plane of the second docking device based on the actual position information of each second vertical positioning point; to determine the angle between the normal vectors of the horizontal positioning planes of the first docking device and the second docking device as the pitch angle; and to determine the angle between the normal vectors of the vertical positioning planes of the first docking device and the second docking device as the roll angle.

[0143] Optionally, the control module 110 further includes:

[0144] The second determining submodule is configured to determine the current contour information of the first docking device and the current contour information of the second docking device based on the actual position information of the target positioning point pair, the relative position information of the first positioning point in the target positioning point pair and the contour of the first docking device and the relative position information of the second positioning point in the target positioning point pair and the contour of the second docking device, which are stored in advance.

[0145] The third determining submodule is configured to determine, based on the current contour information of the first docking device and the current contour information of the second docking device, the target direction in which the first docking device and the second docking device overlap in position, and to determine the target movement distance of the first docking device in the target direction.

[0146] The second control submodule is configured to control the first docking device to move the target distance in the target direction.

[0147] Optionally, the contour information of the first docking device includes the minimum and maximum limit position information of the contour of the first docking device in each preset direction, and the contour information of the second docking device includes the minimum and maximum limit position information of the contour of the second docking device in each preset direction; the third determining submodule is further configured to determine the preset direction as the target direction if the position intervals of the first docking device and the second docking device in the same preset direction intersect, wherein the position interval of the first docking device in the preset direction is defined by the minimum and maximum limit position information of the first docking device in the preset direction, and the position interval of the second docking device in the preset direction is defined by the minimum and maximum limit position information of the second docking device in the preset direction;

[0148] The target movement distance of the first docking device in the target direction is determined based on the distance between the minimum limit position of the first docking device and the maximum limit position of the second docking device in the target direction, as well as the preset distance margin.

[0149] Optionally, the control module 110 is also configured to control the lidar to scan the first docking device and the second docking device;

[0150] Based on the reflected signals received by the lidar, the actual position information of the first positioning point and the actual position information of the second positioning point are determined.

[0151] Optionally, positioning patches are provided on the first and second positioning points, and the reflectivity of the positioning patches at different positioning points is different. The control module 110 also includes:

[0152] The fourth determining submodule is configured to determine the location point to which the reflected signal belongs based on the reflectivity of the received reflected signal;

[0153] The fifth determination submodule is configured to determine the distance between the lidar and the positioning point to which the reflected signal belongs based on the time interval between the lidar's emitted laser signal and the received reflected signal, determine the angle between the lidar and the positioning point to which the reflected signal belongs based on the reflection angle of the reflected signal, and determine the actual position information of the positioning point to which the reflected signal belongs based on the distance and angle between the lidar and the positioning point to which the reflected signal belongs.

[0154] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0155] Figure 7 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. Figure 7As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0156] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the vehicle docking control method described above. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0157] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle docking control method described above.

[0158] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle docking control method described above. For example, the computer-readable storage medium may be the memory 702 including program instructions, which may be executed by the processor 701 of the electronic device 700 to complete the vehicle docking control method described above.

[0159] In another exemplary embodiment, a vehicle is also provided, the vehicle comprising: a first docking device for connecting to a second docking device installed on another vehicle to dock the two vehicles, wherein the first docking device is provided with a plurality of first positioning points, and the second docking device is provided with second positioning points corresponding one-to-one with the first positioning points; a lidar for scanning the first docking device and the second docking device; and a controller for executing the vehicle docking control method described above.

[0160] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0161] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0162] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle docking control method, characterized in that, The method includes: The actual position information of multiple first positioning points set on the first docking device and multiple second positioning points set on the second docking device are obtained. The second positioning points correspond one-to-one with the first positioning points. The first docking device is installed on the front vehicle and the second docking device is installed on the rear vehicle. The first docking device is used to connect with the second docking device to dock the front vehicle with the rear vehicle. Based on the actual position information of at least one first positioning point and the actual position information of at least one second positioning point, the first docking device is controlled to adjust its posture so that the first docking device and the second docking device do not collide in space. Based on the actual location information of the target positioning point pair and the pre-stored target location information of the target positioning point pair, the first docking device is controlled to adjust its position so that the actual location information of the target positioning point pair is consistent with the target location information. The target positioning point pair includes one of the first positioning points and a second positioning point corresponding to the first positioning point.

2. The vehicle docking control method according to claim 1, characterized in that, The step of controlling the first docking device to perform pose adjustment based on the actual position information of at least one first positioning point and at least one second positioning point includes: Based on the actual position information of multiple first positioning points and multiple second positioning points, determine the pitch angle and roll angle between the first docking device and the second docking device; The first docking device is controlled to rotate based on the pitch angle and the roll angle.

3. The vehicle docking control method according to claim 2, characterized in that, The first positioning point includes a plurality of first horizontal positioning points arranged along the horizontal direction of the first docking device and a plurality of first vertical positioning points arranged along the vertical direction of the first docking device; the second positioning point includes a plurality of second horizontal positioning points arranged along the horizontal direction of the second docking device and a plurality of second vertical positioning points arranged along the vertical direction of the second docking device. The step of determining the pitch angle and roll angle between the first docking device and the second docking device based on the actual position information of multiple first positioning points and multiple second positioning points includes: Based on the actual position information of each of the first horizontal positioning points, the normal vector of the horizontal positioning plane of the first docking device is determined, and based on the actual position information of each of the first vertical positioning points, the normal vector of the vertical positioning plane of the first docking device is determined. Based on the actual position information of each of the second horizontal positioning points, the normal vector of the horizontal positioning plane of the second docking device is determined, and based on the actual position information of each of the second vertical positioning points, the normal vector of the vertical positioning plane of the second docking device is determined. The angle between the normal vectors of the horizontal positioning planes of the first docking device and the second docking device is determined as the pitch angle; The angle between the normal vectors of the vertical positioning planes of the first docking device and the second docking device is determined as the tilt angle.

4. The vehicle docking control method according to claim 1, characterized in that, The step of controlling the first docking device to perform pose adjustment based on the actual position information of at least one first positioning point and at least one second positioning point includes: Based on the actual position information of the target positioning point pair, and the pre-stored relative position information of the first positioning point in the target positioning point pair with the outline of the first docking device and the relative position information of the second positioning point in the target positioning point pair with the outline of the second docking device, the current outline information of the first docking device and the current outline information of the second docking device are determined. Based on the current contour information of the first docking device and the current contour information of the second docking device, a target direction in which the first docking device and the second docking device overlap in position is determined, and the target movement distance of the first docking device in the target direction is determined. The first docking device is controlled to move the target distance in the target direction.

5. The vehicle docking control method according to claim 4, characterized in that, The contour information of the first docking device includes the minimum limit position information and the maximum limit position information of the contour of the first docking device in each preset direction, and the contour information of the second docking device includes the minimum limit position information and the maximum limit position information of the contour of the second docking device in each preset direction. The step of determining the target direction in which the first docking device and the second docking device overlap in position based on the current contour information of the first docking device and the current contour information of the second docking device, and determining the target movement distance of the first docking device in the target direction, includes: If the first docking device and the second docking device have an intersection in their current position intervals in the same preset direction, then the preset direction is determined as the target direction. The position interval of the first docking device in the preset direction is defined by the minimum limit position information and the maximum limit position information of the first docking device in the preset direction, and the position interval of the second docking device in the preset direction is defined by the minimum limit position information and the maximum limit position information of the second docking device in the preset direction. The target movement distance of the first docking device in the target direction is determined based on the distance between the minimum limit position of the first docking device in the target direction and the maximum limit position of the second docking device in the target direction, as well as a preset distance margin.

6. The vehicle docking control method according to claim 1, characterized in that, Before the steps of obtaining the actual position information of multiple first positioning points set on the first docking device and the actual position information of multiple second positioning points set on the second docking device, the method further includes: Control the lidar to scan the first docking device and the second docking device; Based on the reflected signal received by the lidar, the actual position information of the first positioning point and the actual position information of the second positioning point are determined.

7. The vehicle docking control method according to claim 6, characterized in that, Positioning patches are provided on the first positioning point and the second positioning point, and the reflectivity of the positioning patches on different positioning points is different; The step of determining the actual position information of the first positioning point and the actual position information of the second positioning point based on the reflected signal received by the lidar includes: The location point to which the reflected signal belongs is determined based on the reflectivity of the received reflected signal; Based on the time interval between the laser signal emitted by the lidar and the reflected signal received, the distance between the lidar and the positioning point to which the reflected signal belongs is determined. Based on the reflection angle of the reflected signal, the angle between the lidar and the positioning point to which the reflected signal belongs is determined. Based on the distance and angle between the lidar and the positioning point to which the reflected signal belongs, the actual position information of the positioning point to which the reflected signal belongs is determined.

8. A vehicle docking control device, characterized in that, The device includes: The acquisition module is configured to acquire the actual position information of multiple first positioning points set on the first docking device and the actual position information of multiple second positioning points set on the second docking device, wherein the second positioning points correspond one-to-one with the first positioning points, the first docking device is installed on the front vehicle, the second docking device is installed on the rear vehicle, and the first docking device is used to connect with the second docking device to dock the front vehicle with the rear vehicle. The control module is configured to control the first docking device to perform pose adjustment based on the actual position information of at least one first positioning point and the actual position information of at least one second positioning point, so that the first docking device and the second docking device do not collide in space. The control module is further configured to control the first docking device to adjust its position based on the actual position information of the target positioning point pair and the pre-stored target position information of the target positioning point pair, so that the actual position information of the target positioning point pair is consistent with the target position information, wherein the target positioning point pair includes one of the first positioning points and a second positioning point corresponding to the first positioning point.

9. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to run the executable instructions to implement the steps of the vehicle docking control method according to any one of claims 1-7.

10. A vehicle, characterized in that, include: A first docking device is used to connect with a second docking device installed on other vehicles to dock the two vehicles. The first docking device is provided with a plurality of first positioning points, and the second docking device is provided with second positioning points that correspond one-to-one with the first positioning points. A lidar is used to scan the first docking device and the second docking device; A controller for performing the steps of the vehicle docking control method according to any one of claims 1-7.

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