A dual-vehicle collaborative docking control method with fine-tuning mechanism

Abstract

The present invention provides a dual-vehicle collaborative docking control method including a fine-tuning mechanism, which relates to the field of collaborative control technology and includes the following steps: obtaining target parameters of a docking target and performing path planning for a first vehicle and a second vehicle undergoing collaborative docking; adjusting the driving parameters of the first vehicle and the second vehicle undergoing collaborative docking in real time to obtain an initial driving plan; performing real-time driving based on the initial driving plan, and monitoring the real-time positions of the first vehicle and the second vehicle in real time based on a collaborative control device to perform position comparisons. Simultaneously, the real-time parameters of the first vehicle and the second vehicle are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles; and analyzing the comprehensive comparison results to perform real-time, high-precision docking control of the first vehicle and the second vehicle undergoing collaborative docking. By separately performing collaborative planning for the first vehicle and the second vehicle undergoing collaborative docking and performing real-time five-degree-of-freedom collaborative adjustments, the efficiency and accuracy of collaborative docking can be improved.

Description

Technical Field

[0001] The present invention relates to the field of collaborative control technology, and in particular to a dual-vehicle collaborative docking control method comprising a fine-tuning mechanism. Background Art

[0002] At present, in the fields of industrial automation and logistics transportation, with the development of heavy-duty transport vehicle merging technology, multi-vehicle collaborative transportation has broken through the limitations of transport tonnage, gradually replaced rail trolley transportation, reduced manufacturing costs, improved the flexibility of walking tracks, and achieved precise displacement control, becoming a common operating method.

[0003] However, existing dual-vehicle docking control methods mainly rely on path planning and parameter control, but due to the influence of sensor accuracy, actuator response time and environmental factors, docking errors often occur and are not very practical.

[0004] Therefore, the present invention provides a dual-vehicle collaborative docking control method including a fine-tuning mechanism. Summary of the Invention

[0005] The present invention provides a dual-vehicle collaborative docking control method including a fine-tuning mechanism, which is used to solve the problems of poor docking accuracy and long docking time in the prior art.

[0006] The present invention provides a dual-vehicle coordinated docking control method including a fine-tuning mechanism, comprising:

[0007] Step 1: Obtain target parameters of the docking target, thereby planning the paths for the first and second vehicles to be docked, and obtaining the path planning results;

[0008] Step 2: Based on the route planning results, the driving parameters of the first and second vehicles for collaborative docking are adjusted in real time to obtain an initial driving plan.

[0009] Step 3: Based on the initial driving plan, the first and second vehicles are driven in real time. The collaborative control device monitors the real-time positions of the first and second vehicles in the collaborative docking process in real time, and compares their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles in the collaborative docking process are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles in the collaborative docking process.

[0010] Step 4: Analyze the comprehensive comparison results, and then perform real-time high-precision docking control on the first and second vehicles performing collaborative docking based on the fine-tuning mechanism.

[0011] According to the present invention, target parameters of the docking target are obtained, thereby performing path planning for the first vehicle and the second vehicle that are to be collaboratively docked, and obtaining a path planning result, including:

[0012] Step 11: Acquire target parameters of the docking target, and simultaneously acquire a first relative position of the first vehicle to be collaboratively docked from the docking target and a second relative position of the second vehicle to the docking target;

[0013] Step 12: Determine a first initial path plan for the first vehicle to the docking target based on the target parameters and the first relative position of the docking target;

[0014] Step 13: Determine a second initial path plan for the second vehicle to the docking target based on the target parameters and the second relative position of the docking target;

[0015] Step 14: Based on the first initial path driving plan and the second initial path driving plan, the path driving planning results of the first vehicle and the second vehicle for collaborative docking are comprehensively determined.

[0016] According to the present invention, the driving parameters of the first vehicle and the second vehicle for collaborative docking are adjusted in real time based on the path driving planning result to obtain an initial driving plan, including:

[0017] Step 21: determining a first distance for the first vehicle to reach the docking destination based on the first initial path driving plan, and simultaneously determining a second distance for the second vehicle to reach the docking destination based on the second initial path driving plan;

[0018] Step 22: Determine a first relative ratio value set of driving parameters of the first vehicle and the second vehicle based on the relative ratio value of the first distance and the second distance;

[0019] Step 23: Obtaining first initial driving parameters of the first vehicle, and determining second initial driving parameters of the second vehicle based on the first relative ratio value set;

[0020] Step 24: Determine whether the first initial driving parameter and the second initial driving parameter meet parameter safety requirements for collaborative docking, thereby determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle;

[0021] Step 25: Obtain an initial driving plan based on the first driving parameter and the second driving parameter in combination with the path driving planning results of the first vehicle and the second vehicle.

[0022] According to the present invention, determining a first driving parameter of a first vehicle and a second driving parameter of a second vehicle includes:

[0023] If both the first initial driving parameter and the second initial driving parameter meet the parameter safety requirements for collaborative docking, the first initial driving parameter is used as the first driving parameter of the first vehicle, and the second initial driving parameter is used as the second driving parameter of the second vehicle;

[0024] If there is a driving parameter in the first initial driving parameter and the second initial driving parameter that does not meet the parameter safety requirements of collaborative docking, the first initial driving parameter and the second initial driving parameter are optimized based on the first relative ratio to obtain the first driving parameter of the first vehicle and the second driving parameter of the second vehicle.

[0025] According to the present invention, the real-time driving is performed based on the initial driving plan, and the real-time positions of the first vehicle and the second vehicle undergoing collaborative docking are monitored in real time based on the collaborative control device, thereby comparing the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle undergoing collaborative docking are compared with the planned parameters, thereby obtaining a comprehensive comparison result of the two vehicles undergoing collaborative docking, including:

[0026] Step 31: The first vehicle and the second vehicle to be collaboratively docked drive in real time according to the initial driving plan;

[0027] Step 32: Monitoring, based on the collaborative control device, a first real-time position of the first vehicle undergoing collaborative docking and a second real-time position of the second vehicle undergoing collaborative docking;

[0028] Step 33: Obtain the first planned position of the first vehicle and the second planned position of the second vehicle corresponding to the current moment in the initial driving plan;

[0029] Step 34: performing a first comparison between the first planned position and the first real-time position, and performing a second comparison between the second planned position and the second real-time position;

[0030] Step 35: The collaborative control device monitors the first real-time parameter of the first vehicle undergoing collaborative docking and performs a third comparison with the first planned parameter. Simultaneously, the collaborative control device monitors the second real-time parameter of the second vehicle undergoing collaborative docking and performs a fourth comparison with the second planned parameter.

[0031] Step 36: Obtain a comprehensive comparison result of the two vehicles for collaborative docking based on the first comparison result, the second comparison result, the third comparison result, and the fourth comparison result.

[0032] According to the present invention, the comprehensive comparison result is analyzed, thereby performing real-time high-precision docking control of the first vehicle and the second vehicle for coordinated docking based on the fine-tuning mechanism, including:

[0033] Step 41: Obtaining a first comprehensive error of the first vehicle and a second comprehensive error of the second vehicle based on a comprehensive comparison result of the two vehicles undergoing collaborative docking;

[0034] Step 42: Acquire real-time external environmental parameters to determine a first environmental parameter of the first vehicle and a second environmental parameter of the second vehicle;

[0035] Step 43: respectively determining a first environmental impact error of the first environmental parameter on the first comprehensive error and a second environmental impact error of the second environmental parameter on the second comprehensive error;

[0036] Step 44: obtaining a first error for the first vehicle based on the first environmental impact error and the first comprehensive error, and obtaining a second error for the second vehicle based on the second environmental impact error and the second comprehensive error;

[0037] Step 45: Determine a first five-degree-of-freedom adjustment strategy corresponding to longitudinal movement, lifting and lowering, lateral movement of the first vehicle, and asynchronous lifting and swinging of the left and right vehicles based on the first error and the first real-time position of the first vehicle;

[0038] Step 46: Determine a second five-degree-of-freedom adjustment strategy corresponding to the longitudinal movement, lifting and lowering, and lateral movement of the second vehicle, and the asynchronous lifting and swinging of the left and right vehicles based on the second error and the second real-time position of the second vehicle;

[0039] Step 47: Obtaining a first adjustment time of the first adjustment strategy for the five degrees of freedom and a second adjustment time of the second adjustment strategy for the five degrees of freedom based on the adjustment response time of the target fine-tuning mechanism;

[0040] Step 48: Compare the first adjustment time and the second adjustment time;

[0041] If the time difference between the first adjustment time and the second adjustment time is less than the maximum error of fine-tuning, a first five-degree-of-freedom adjustment is performed on the first vehicle based on the first adjustment time, and a second five-degree-of-freedom adjustment is performed on the second vehicle based on the second adjustment time.

[0042] If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first and second vehicles are adjusted with five degrees of freedom.

[0043] According to the present invention, if the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and the second vehicle are adjusted with five degrees of freedom, including:

[0044] Step 481: When the time difference between the first adjustment time and the second adjustment time is not less than the maximum fine-tuning error, compare the first adjustment time and the second adjustment time, thereby extracting the longer adjustment time between the first adjustment time and the second adjustment time as the first reference time, and extracting the shorter adjustment time between the first adjustment time and the second adjustment time as the second reference time;

[0045] Step 482: The first reference time is used as the standard time, and the second adjustment strategy corresponding to the second reference time is extended so that the time required by the second adjustment strategy corresponding to the second reference time is consistent with the standard time.

[0046] Step 483: Based on the adjusted standard time, a first five-degree-of-freedom adjustment is performed on the corresponding first vehicle, and a second five-degree-of-freedom adjustment is performed on the corresponding second vehicle.

[0047] After performing the real-time high-precision docking control according to the present invention, the method further includes: verifying the corresponding docking control result, specifically including:

[0048] Step 01: Obtain the first-precision position of the first vehicle and the second-precision position of the second vehicle after high-precision docking control;

[0049] Step 02: Compare and determine a first accuracy difference between the first precision position and a preset first standard position of the first vehicle, and a second accuracy difference between the second precision position and a preset second standard position of the second vehicle;

[0050] Step 03: Predetermine a maximum accuracy difference based on the error range of the docking target, and compare the first accuracy difference, the second accuracy difference, and the maximum accuracy difference;

[0051] If both the first accuracy difference and the second accuracy difference are smaller than the maximum accuracy difference, the docking control result for the collaborative docking is determined to be qualified;

[0052] If the first precision difference and the second precision difference are both less than the maximum precision difference, it is determined that the docking control result of the collaborative docking is unqualified and the docking control needs to be re-performed.

[0053] The present invention also provides a dual-vehicle coordinated docking control device including a fine-tuning mechanism, which is characterized by comprising:

[0054] Driving planning module: used to obtain the target parameters of the docking target, thereby planning the path of the first and second vehicles for collaborative docking and obtaining the path planning results;

[0055] Initial planning module: used to adjust the driving parameters of the first and second vehicles in the coordinated docking process in real time based on the path driving planning results, thereby obtaining an initial driving plan;

[0056] Comprehensive comparison module: used to perform real-time driving based on the initial driving plan and monitor the real-time positions of the first and second vehicles undergoing collaborative docking in real time based on the collaborative control device, thereby comparing their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles undergoing collaborative docking are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles undergoing collaborative docking.

[0057] Docking control module: used to analyze the comprehensive comparison results, so as to perform real-time high-precision docking control of the first and second vehicles for collaborative docking based on the fine-tuning mechanism.

[0058] On the other hand, the present invention further provides a physical device, characterized in that it is used to execute any of the above-mentioned dual-vehicle collaborative docking control methods containing a fine-tuning mechanism.

[0059] Compared with the existing technology, the beneficial effects of the present invention are: the present invention provides a dual-vehicle collaborative docking control method with a fine-tuning mechanism, which can improve the efficiency of collaborative docking by collaboratively planning the first vehicle and the second vehicle for collaborative docking respectively, and performing five-degree-of-freedom collaborative adjustment in real time, while also improving the accuracy of collaborative docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0061] Figure 1 This is a flow chart of a dual-vehicle collaborative docking control method including a fine-tuning mechanism provided by an embodiment of the present invention;

[0062] Figure 2 This is a structural diagram of docking hardware for vertical docking between a carrier rocket and an erection and transfer system according to an embodiment of the present invention;

[0063] Figure 3 This is a general control diagram for vertical docking of a carrier rocket and an erection and transfer system according to an embodiment of the present invention;

[0064] Figure 4 This is a flow chart of docking a launch vehicle erection frame and a transport vehicle in a technical workshop in an embodiment of the present invention;

[0065] Figure 5 This is a flow chart of docking a carrier rocket erection frame and a transport vehicle at a launch site according to an embodiment of the present invention;

[0066] Figure 6 This is a five-degree-of-freedom adjustment structure diagram for precise adjustment in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0068] Example 1:

[0069] The embodiment of the present invention provides a dual-vehicle coordinated docking control method including a fine-tuning mechanism, such as Figure 1 Shown, including:

[0070] Step 1: Obtain target parameters of the docking target, thereby planning the paths for the first and second vehicles to be docked, and obtaining the path planning results;

[0071] Step 2: Based on the route planning results, the driving parameters of the first and second vehicles for collaborative docking are adjusted in real time to obtain an initial driving plan.

[0072] Step 3: Based on the initial driving plan, the first and second vehicles are driven in real time. The collaborative control device monitors the real-time positions of the first and second vehicles in the collaborative docking process in real time, and compares their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles in the collaborative docking process are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles in the collaborative docking process.

[0073] Step 4: Analyze the comprehensive comparison results, and then perform real-time high-precision docking control on the first and second vehicles performing collaborative docking based on the fine-tuning mechanism.

[0074] In this embodiment, the docking target refers to the target point or object that the two vehicles (the first vehicle and the second vehicle) need to jointly approach or connect to during the coordinated docking process. This can be a specific parking space, loading area, or other location that the two vehicles need to coordinate to reach.

[0075] In this embodiment, the target parameters refer to specific information or data about the docking target, such as position coordinates, size, shape and other parameters.

[0076] In this embodiment, collaborative docking refers to the process in which two vehicles cooperate and coordinate with each other to jointly complete a docking task. Collaborative docking involves precise time synchronization, path planning, and parameter control.

[0077] In this embodiment, the first vehicle and the second vehicle refer to two vehicles participating in the coordinated docking. They can be different types of vehicles, but they need to cooperate with each other during the docking process. There is no front-to-back correlation between the first vehicle and the second vehicle. For example, the first vehicle can be vehicle A and the second vehicle can be vehicle B. The docking target is the carrier rocket. The docking work is the two specific control processes of vertical docking of the carrier rocket with the erection and transportation system and horizontal docking of the launch platform with the erection and transportation system after being transported to the launch station. The corresponding docking hardware components are as follows: Figure 2 As shown, the control diagram is as follows Figure 3 shown.

[0078] In this embodiment, the path driving planning is to plan a driving path from the current position to the target position for the first vehicle and the second vehicle according to the docking target and the target parameters.

[0079] In this embodiment, the initial driving plan refers to a preliminary driving plan of the first vehicle and the second vehicle obtained based on the path driving planning result and taking into account the real-time adjustment of driving parameters.

[0080] In this embodiment, the collaborative control device is a device used to monitor and control the status of the first vehicle and the second vehicle in real time during the collaborative docking process, such as a GPS positioning system, a sensor, etc.

[0081] In this embodiment, the planned position refers to the theoretical position that the first vehicle and the second vehicle should reach at corresponding times according to the path driving plan.

[0082] In this embodiment, the comprehensive comparison result of the two vehicles is a comprehensive result obtained by comparing the real-time positions of the first vehicle and the second vehicle with the planned positions, and the real-time parameters with the planned parameters, and is used to evaluate the difference between the current driving state and the planned state.

[0083] In this embodiment, the fine-tuning mechanism is a device or system for making minute adjustments to the driving of the first vehicle and the second vehicle according to the comprehensive comparison results during the coordinated docking process to ensure high-precision docking.

[0084] In this embodiment, the real-time high-precision docking control refers to a process of precisely controlling the first vehicle and the second vehicle based on a fine-tuning mechanism to achieve high-precision docking.

[0085] In this embodiment, in the technical workshop, the launch vehicle is placed on the erection frame, and the erection frame is placed on the transport vehicle platform through the fine adjustment mechanism. The process of docking the erection frame and the transport vehicle is as follows: Figure 4As shown in the figure, assume that the first vehicle is vehicle A and the second vehicle is vehicle B. Vehicles A and B, under the control of the vehicle-side control system, drive to the marked areas on the factory floor. The four corners correspond to the rear two vehicles, and the two vehicles are parked. A ruler is used to measure the offset distances of vehicles A and B relative to their theoretical positions on the X-axis (longitudinal) and Y-axis (lateral), as well as the offset angles of vehicles A and B relative to their theoretical centerline positions. The fine-tuning mechanism of vehicle A is disengaged, the fine-tuning mechanism of vehicle B is locked, the rear end of the erection frame is docked with the fine-tuning mechanism of vehicle B, and the front end of the erection frame is docked with the fine-tuning mechanism of vehicle A. The relative positions of the fine-tuning mechanisms of vehicle A and vehicle B are adjusted using the erection frame structure, and the fine-tuning mechanism of vehicle A is locked. The position and angular deviations of the two vehicles are measured, completing the docking.

[0086] In this embodiment, at the launch site, if the first transport vehicle is vehicle A and the second vehicle is vehicle B, the process of docking the transport vehicle and the launch pad is as follows: Figure 5 First, the vehicle-side control system performs rough docking based on magnetic navigation, and then the ultrasonic sensor uses the fine-tuning mechanism and the dual vehicles to coordinate and perform fine docking.

[0087] The beneficial effect of the above technical solution is that by collaboratively planning the first and second vehicles for collaborative docking respectively and performing five-degree-of-freedom collaborative adjustments in real time, the efficiency of collaborative docking can be improved, and the accuracy of collaborative docking can also be improved.

[0088] Example 2:

[0089] Based on Example 1, path planning is performed to obtain path planning results, including:

[0090] Step 11: Acquire target parameters of the docking target, and simultaneously acquire a first relative position of the first vehicle to be collaboratively docked from the docking target and a second relative position of the second vehicle to the docking target;

[0091] Step 12: Determine a first initial path plan for the first vehicle to the docking target based on the target parameters and the first relative position of the docking target;

[0092] Step 13: Determine a second initial path plan for the second vehicle to the docking target based on the target parameters and the second relative position of the docking target;

[0093] Step 14: Based on the first initial path driving plan and the second initial path driving plan, the path driving planning results of the first vehicle and the second vehicle for collaborative docking are comprehensively determined.

[0094] In this embodiment, the docking target refers to the target point or object that the two vehicles (the first vehicle and the second vehicle) need to jointly approach or connect to during the coordinated docking process. This can be a specific parking space, loading area, or other location that the two vehicles need to coordinate to reach.

[0095] In this embodiment, the target parameters refer to specific information or data about the docking target, such as position coordinates, size, shape and other parameters.

[0096] In this embodiment, collaborative docking refers to the process in which two vehicles cooperate and coordinate with each other to jointly complete a docking task. Collaborative docking involves precise time synchronization, path planning, and parameter control.

[0097] In this embodiment, the first vehicle and the second vehicle refer to two vehicles participating in the collaborative docking. They can be different types of vehicles, but need to cooperate with each other during the docking process. There is no front-to-back correlation between the first vehicle and the second vehicle.

[0098] In this embodiment, the first relative position refers to the relative position of the first vehicle from the docking target, and the second relative position refers to the relative position of the second vehicle from the docking target.

[0099] In this embodiment, the first initial path driving plan is a path planning for the first vehicle determined based on the target parameters of the docking target and the first relative position of the first vehicle, and the second initial path driving plan is a path planning for the second vehicle determined based on the target parameters of the docking target and the second relative position of the second vehicle.

[0100] In this embodiment, the path driving planning is to plan a driving path from the current position to the target position for the first vehicle and the second vehicle according to the docking target and the target parameters.

[0101] The beneficial effect of the above technical solution is: by performing path driving planning, the planning error can be determined more accurately, and more accurate collaborative planning adjustments can be made, which can improve the efficiency of collaborative docking and also improve the accuracy of collaborative docking.

[0102] Example 3:

[0103] Based on Example 2, an initial driving plan is obtained, including:

[0104] Step 21: determining a first distance for the first vehicle to reach the docking destination based on the first initial path driving plan, and simultaneously determining a second distance for the second vehicle to reach the docking destination based on the second initial path driving plan;

[0105] Step 22: Determine a first relative ratio of the driving parameters of the first vehicle and the second vehicle based on the relative ratio set of the first distance and the second distance;

[0106] Step 23: Obtaining first initial driving parameters of the first vehicle, and determining second initial driving parameters of the second vehicle based on the first relative ratio value set;

[0107] Step 24: Determine whether the first initial driving parameter and the second initial driving parameter meet parameter safety requirements for collaborative docking, thereby determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle;

[0108] Step 25: Obtain an initial driving plan based on the first driving parameter and the second driving parameter in combination with the path driving planning results of the first vehicle and the second vehicle.

[0109] In this embodiment, the first distance refers to the distance from the first vehicle to the docking target determined based on the first initial path driving plan, wherein the first distance is different from the first relative position. The first relative position refers to the straight-line distance from the current position of the first vehicle to the docking target. The first distance is the driving distance of the first vehicle determined after taking into account the external environment.

[0110] In this embodiment, the second distance refers to the distance the second vehicle needs to travel to the docking target, determined based on the second initial path driving plan. The second distance is different from the second relative position. The second relative position refers to the straight-line distance from the current position of the second vehicle to the docking target. The second distance is the driving distance of the second vehicle determined after taking into account the external environment.

[0111] In this embodiment, the first relative ratio is the inverse of the relative ratio of the first distance to the second distance.

[0112] In this embodiment, the first initial driving parameter and the second initial driving parameter refer to the real-time driving parameters of the first vehicle and the second vehicle.

[0113] In this embodiment, the parameter safety requirement refers to the maximum value of the parameter that meets the corresponding vehicle safety requirement. For example, the speed safety requirement in the parameter safety requirement of the first vehicle determined based on the vehicle type of the first vehicle is 40 km / h.

[0114] In this embodiment, the first driving parameter is obtained by optimizing the first initial driving parameter of the first vehicle based on the parameter safety requirement.

[0115] In this embodiment, the second driving parameter is obtained by optimizing the second initial driving parameter of the second vehicle based on the parameter safety requirement.

[0116] In this embodiment, the initial driving plan refers to a preliminary driving plan of the first vehicle and the second vehicle obtained based on the path driving planning result and taking into account the real-time adjustment of driving parameters.

[0117] The beneficial effect of the above technical solution is: by performing initial driving planning to carry out dual-vehicle driving, the difference between the planned position and the real-time position can be monitored in real time, so that the five-degree-of-freedom collaborative adjustment can be carried out more accurately, which can improve the accuracy of collaborative docking.

[0118] Example 4:

[0119] Based on the third embodiment, determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle includes:

[0120] If both the first initial driving parameter and the second initial driving parameter meet the parameter safety requirements for collaborative docking, the first initial driving parameter is used as the first driving parameter of the first vehicle, and the second initial driving parameter is used as the second driving parameter of the second vehicle;

[0121] If there is a driving parameter in the first initial driving parameter and the second initial driving parameter that does not meet the parameter safety requirements of collaborative docking, the first initial driving parameter and the second initial driving parameter are optimized based on the first relative ratio to obtain the first driving parameter of the first vehicle and the second driving parameter of the second vehicle.

[0122] The beneficial effect of the above technical solution is: by performing initial driving planning to carry out dual-vehicle driving, the difference between the planned position and the real-time position can be monitored in real time, so that the five-degree-of-freedom collaborative adjustment can be carried out more accurately, which can improve the accuracy of collaborative docking.

[0123] Example 5:

[0124] Based on Example 3, the comprehensive comparison results of the two vehicles for collaborative docking are obtained, including:

[0125] Step 31: The first vehicle and the second vehicle to be collaboratively docked drive in real time according to the initial driving plan;

[0126] Step 32: Monitoring, based on the collaborative control device, a first real-time position of the first vehicle undergoing collaborative docking and a second real-time position of the second vehicle undergoing collaborative docking;

[0127] Step 33: Obtain the first planned position of the first vehicle and the second planned position of the second vehicle corresponding to the current moment in the initial driving plan;

[0128] Step 34: performing a first comparison between the first planned position and the first real-time position, and performing a second comparison between the second planned position and the second real-time position;

[0129] Step 35: The collaborative control device monitors the first real-time parameter of the first vehicle undergoing collaborative docking and performs a third comparison with the first planned parameter. Simultaneously, the collaborative control device monitors the second real-time parameter of the second vehicle undergoing collaborative docking and performs a fourth comparison with the second planned parameter.

[0130] Step 36: Obtain a comprehensive comparison result of the two vehicles for collaborative docking based on the first comparison result, the second comparison result, the third comparison result, and the fourth comparison result.

[0131] In this embodiment, the collaborative control device is a device used to monitor and control the status of the first vehicle and the second vehicle in real time during the collaborative docking process, such as a GPS positioning system, a sensor, etc.

[0132] In this embodiment, the first real-time position refers to the real-time relative position of the first vehicle, and the second real-time position refers to the real-time relative position of the second vehicle.

[0133] In this embodiment, the first real-time parameter refers to the real-time parameter of the first vehicle at the current driving moment, and the second real-time parameter refers to the real-time parameter of the second vehicle at the current driving moment.

[0134] In this embodiment, the planned position refers to the theoretical position that the first vehicle and the second vehicle should reach at corresponding times according to the path driving plan.

[0135] In this embodiment, the comprehensive comparison result of the two vehicles is a comprehensive result obtained by comparing the real-time positions of the first vehicle and the second vehicle with the planned positions, and the real-time parameters with the planned parameters, and is used to evaluate the difference between the current driving state and the planned state.

[0136] The beneficial effect of the above technical solution is: by collaboratively planning the first vehicle and the second vehicle for collaborative docking respectively, and comparing the real-time parameters and real-time positions with the planned parameters and planned positions, a comprehensive comparison result is obtained, which can expand the scope of collaborative docking and greatly improve the accuracy of collaborative docking.

[0137] Example 6:

[0138] Based on Example 5, the comprehensive comparison results are analyzed, and the first and second vehicles performing the coordinated docking are controlled in real time with high precision based on the fine-tuning mechanism, including:

[0139] Step 41: Obtaining a first comprehensive error of the first vehicle and a second comprehensive error of the second vehicle based on a comprehensive comparison result of the two vehicles undergoing collaborative docking;

[0140] Step 42: Acquire real-time external environmental parameters to determine a first environmental parameter of the first vehicle and a second environmental parameter of the second vehicle;

[0141] Step 43: respectively determining a first environmental impact error of the first environmental parameter on the first comprehensive error and a second environmental impact error of the second environmental parameter on the second comprehensive error;

[0142] Step 44: obtaining a first error for the first vehicle based on the first environmental impact error and the first comprehensive error, and obtaining a second error for the second vehicle based on the second environmental impact error and the second comprehensive error;

[0143] Step 45: Determine a first five-degree-of-freedom adjustment strategy corresponding to longitudinal movement, lifting and lowering, lateral movement of the first vehicle, and asynchronous lifting and swinging of the left and right vehicles based on the first error and the first real-time position of the first vehicle;

[0144] Step 46: Determine a second five-degree-of-freedom adjustment strategy corresponding to the longitudinal movement, lifting and lowering, and lateral movement of the second vehicle, and the asynchronous lifting and swinging of the left and right vehicles based on the second error and the second real-time position of the second vehicle;

[0145] Step 47: Obtaining a first adjustment time of the first adjustment strategy for the five degrees of freedom and a second adjustment time of the second adjustment strategy for the five degrees of freedom based on the adjustment response time of the target fine-tuning mechanism;

[0146] Step 48: Compare the first adjustment time and the second adjustment time;

[0147] If the time difference between the first adjustment time and the second adjustment time is less than the maximum error of fine-tuning, a first five-degree-of-freedom adjustment is performed on the first vehicle based on the first adjustment time, and a second five-degree-of-freedom adjustment is performed on the second vehicle based on the second adjustment time.

[0148] If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first and second vehicles are adjusted with five degrees of freedom.

[0149] In this embodiment, the first comprehensive error refers to a comprehensive error including a position comparison error and a parameter comparison error of the first vehicle.

[0150] In this embodiment, the second comprehensive error refers to a comprehensive error including a position comparison error and a parameter comparison error of the second vehicle.

[0151] In this embodiment, the first environmental parameter and the second environmental parameter refer to the external environmental parameters of the first vehicle and the second vehicle, wherein the first environmental parameter and the second environmental parameter may be different. For example, when the first vehicle and the second vehicle are traveling towards each other, the corresponding wind directions and the corresponding resistances are different. At the same time, the road conditions may also be different.

[0152] In this embodiment, the first environmental impact error is an error value caused by the influence of external environmental factors determined based on the first environmental parameters on the position and other driving parameters of the first vehicle, and the second environmental impact error is an error value caused by the influence of external environmental factors determined based on the second environmental parameters on the position and other driving parameters of the second vehicle.

[0153] In this embodiment, the first error is a comprehensive error of the first vehicle obtained after eliminating the first environmental influence error, and the second error is a comprehensive error of the second vehicle obtained after eliminating the second environmental influence error.

[0154] In this embodiment, the five-degree-of-freedom adjustment is based on the five degrees of freedom adjustment of longitudinal movement, lifting and lowering, lateral movement, asynchronous lifting and swinging of the left and right vehicles.

[0155] In this embodiment, the fine-tuning mechanism is a device or system for making minute adjustments to the driving of the first vehicle and the second vehicle according to the comprehensive comparison results during the coordinated docking process to ensure high-precision docking.

[0156] In this embodiment, the first adjustment time is the adjustment time for the target fine-tuning mechanism to adjust the first vehicle with five degrees of freedom, and the second adjustment time is the adjustment time for the target fine-tuning mechanism to adjust the second vehicle with five degrees of freedom.

[0157] In this embodiment, the five-degree-of-freedom first adjustment refers to a five-degree-of-freedom adjustment of the first vehicle based on a first adjustment time, and the five-degree-of-freedom second adjustment refers to a five-degree-of-freedom adjustment of the second vehicle based on a second adjustment time.

[0158] In this embodiment, the precise adjustment diagram is as follows: Figure 6 As shown. Through the vehicle-side control system and fine-tuning mechanism, the two vehicles work together to complete longitudinal movement, lifting, and lateral movement, and the left and right vehicles asynchronously lift and swing, achieving five degrees of freedom (X, Y, Z, RoX and RoZ) posture adjustment. The precise docking process is as follows:

[0159] 1. First adjust the RoX directional freedom so that the axis of the hinged ear plate of the erection frame is horizontal.

[0160] The RoX rotation is achieved by differential lifting of the left and right suspension groups of car B to adjust the RoX direction.

[0161] 2. Adjust the RoZ direction freedom so that the axis of the articulated ear plate of the erection frame is parallel to the axis of the articulated ear plate of the launch platform.

[0162] The fine-tuning mechanism of vehicle A is locked, and the adjustment is achieved by adjusting the transverse cylinder of the fine-tuning mechanism of vehicle B. The compensation mechanism of the fine-tuning mechanism has an arc-shaped sliding pair, which can release the degree of freedom in the rotation direction to avoid movement jamming of the mechanism.

[0163] 3. Adjust the Y-direction degree of freedom so that the gap between the erection frame ear plate and the launch platform ear plate is consistent to ensure that there is no interference between the two.

[0164] Adjustment is achieved by adjusting the transverse cylinders of fine-tuning mechanism A and fine-tuning mechanism B respectively.

[0165] 4. Adjust the X-direction degree of freedom.

[0166] Adjustment is achieved by adjusting the longitudinal cylinders of fine-tuning mechanism A and fine-tuning mechanism B respectively.

[0167] 5. Adjustment of the Z-direction degree of freedom is achieved by lowering the entire vehicle.

[0168] The control system at the vehicle end of vehicle A and the control system at the vehicle end of vehicle B are controlled in parallel to control the synchronous lifting of the two vehicles to realize the lifting of the erection frame.

[0169] The beneficial effect of the above technical solution is: by longitudinally moving, lifting and lateralizing the first and second vehicles for collaborative docking, and by making coordinated adjustments in the five degrees of freedom corresponding to the asynchronous lifting and swinging movements of the left and right vehicles, high-precision docking control can be achieved, which can greatly improve the docking accuracy.

[0170] Example 7:

[0171] Based on Example 6, if the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first and second vehicles are adjusted with five degrees of freedom, including:

[0172] Step 481: When the time difference between the first adjustment time and the second adjustment time is not less than the maximum fine-tuning error, compare the first adjustment time and the second adjustment time, thereby extracting the longer adjustment time between the first adjustment time and the second adjustment time as the first reference time, and extracting the shorter adjustment time between the first adjustment time and the second adjustment time as the second reference time;

[0173] Step 482: The first reference time is used as the standard time, and the second adjustment strategy corresponding to the second reference time is extended so that the time required by the second adjustment strategy corresponding to the second reference time is consistent with the standard time.

[0174] Step 483: Based on the adjusted standard time, a first five-degree-of-freedom adjustment is performed on the corresponding first vehicle, and a second five-degree-of-freedom adjustment is performed on the corresponding second vehicle.

[0175] In this embodiment, the first reference time refers to the longer adjustment time between the first adjustment time and the second adjustment time.

[0176] In this embodiment, the second reference time refers to the shorter adjustment time between the first adjustment time and the second adjustment time.

[0177] The beneficial effect of the above technical solution is that high-precision docking control can be achieved by performing five-degree-of-freedom coordinated adjustment on the first and second vehicles for coordinated docking, which can greatly improve the docking accuracy.

[0178] Example 8:

[0179] Based on Example 6, after performing real-time high-precision docking control, the method further includes: verifying the corresponding docking control results, specifically including:

[0180] Step 01: Obtain the first-precision position of the first vehicle and the second-precision position of the second vehicle after high-precision docking control;

[0181] Step 02: Compare and determine a first accuracy difference between the first precision position and a preset first standard position of the first vehicle, and a second accuracy difference between the second precision position and a preset second standard position of the second vehicle;

[0182] Step 03: Predetermine a maximum accuracy difference based on the error range of the docking target, and compare the first accuracy difference, the second accuracy difference, and the maximum accuracy difference;

[0183] If both the first accuracy difference and the second accuracy difference are smaller than the maximum accuracy difference, the docking control result for the collaborative docking is determined to be qualified;

[0184] If the first precision difference and the second precision difference are both less than the maximum precision difference, it is determined that the docking control result of the collaborative docking is unqualified and the docking control needs to be re-performed.

[0185] In this embodiment, the first precision position refers to the real-time position of the first vehicle after high-precision docking control, and the second precision position refers to the real-time position of the second vehicle after high-precision docking control.

[0186] In this embodiment, the first standard position and the second standard position are predetermined based on the docking accuracy requirement of the docking target.

[0187] In this embodiment, the first accuracy difference refers to the position difference between the first accuracy position and the first standard position, and the second accuracy difference refers to the position difference between the second accuracy position and the second standard position.

[0188] In this embodiment, the maximum accuracy difference is predetermined based on the docking accuracy requirement of the docking target.

[0189] The beneficial effect of the above technical solution is: by verifying the collaborative docking control results, docking adjustment control can be carried out in a timely manner to improve the efficiency of collaborative docking.

[0190] Example 9:

[0191] An embodiment of the present invention provides a dual-vehicle coordinated docking control device including a fine-tuning mechanism, comprising:

[0192] Driving planning module: used to obtain the target parameters of the docking target, thereby planning the path of the first and second vehicles for collaborative docking and obtaining the path planning results;

[0193] Initial planning module: used to adjust the driving parameters of the first and second vehicles in the coordinated docking process in real time based on the path driving planning results, thereby obtaining an initial driving plan;

[0194] Comprehensive comparison module: used to perform real-time driving based on the initial driving plan and monitor the real-time positions of the first and second vehicles undergoing collaborative docking in real time based on the collaborative control device, thereby comparing their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles undergoing collaborative docking are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles undergoing collaborative docking.

[0195] Docking control module: used to analyze the comprehensive comparison results, so as to perform real-time high-precision docking control of the first and second vehicles for collaborative docking based on the fine-tuning mechanism.

[0196] The beneficial effect of the above technical solution is that by collaboratively planning the first and second vehicles for collaborative docking respectively and performing five-degree-of-freedom collaborative adjustments in real time, the efficiency of collaborative docking can be improved, and the accuracy of collaborative docking can also be improved.

[0197] On the other hand, the present invention further provides a physical device for executing a dual-vehicle coordinated docking control method including a fine-tuning mechanism provided by the above methods, the method comprising:

[0198] Step 1: Obtain target parameters of the docking target, thereby planning the paths for the first and second vehicles to be docked, and obtaining the path planning results;

[0199] Step 2: Based on the route planning results, the driving parameters of the first and second vehicles for collaborative docking are adjusted in real time to obtain an initial driving plan.

[0200] Step 3: Based on the initial driving plan, the first and second vehicles are driven in real time. The collaborative control device monitors the real-time positions of the first and second vehicles in the collaborative docking process in real time, and compares their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles in the collaborative docking process are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles in the collaborative docking process.

[0201] Step 4: Analyze the comprehensive comparison results, and then perform real-time high-precision docking control on the first and second vehicles performing collaborative docking based on the fine-tuning mechanism.

[0202] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dual-vehicle coordinated docking control method with a fine-tuning mechanism, characterized in that: include: Step 1: Obtain target parameters of the docking target, thereby planning the paths for the first and second vehicles to be docked, and obtaining the path planning results; Step 2: Based on the route planning results, the driving parameters of the first and second vehicles for collaborative docking are adjusted in real time to obtain an initial driving plan. Step 21: determining a first distance for the first vehicle to reach the docking destination based on the first initial path driving plan, and simultaneously determining a second distance for the second vehicle to reach the docking destination based on the second initial path driving plan; Step 22: Determine a first relative ratio value set of driving parameters of the first vehicle and the second vehicle based on the relative ratio value of the first distance and the second distance; Step 23: Obtaining first initial driving parameters of the first vehicle, and determining second initial driving parameters of the second vehicle based on the first relative ratio value set; Step 24: Determine whether the first initial driving parameter and the second initial driving parameter meet parameter safety requirements for collaborative docking, thereby determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle; Step 25: Obtaining an initial driving plan based on the first driving parameter and the second driving parameter in combination with the path driving planning results of the first vehicle and the second vehicle; Step 3: Based on the initial driving plan, the first and second vehicles are driven in real time. The collaborative control device monitors the real-time positions of the first and second vehicles in the collaborative docking process in real time, and compares their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles in the collaborative docking process are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles in the collaborative docking process. Step 4: Analyze the comprehensive comparison results, and then perform real-time high-precision docking control on the first and second vehicles performing collaborative docking based on the fine-tuning mechanism.

2. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 1, characterized in that: Obtain target parameters of the docking target, thereby performing path planning for the first and second vehicles performing collaborative docking, and obtaining path planning results, including: Step 11: Acquire target parameters of the docking target, and simultaneously acquire a first relative position of the first vehicle to be collaboratively docked from the docking target and a second relative position of the second vehicle to the docking target; Step 12: Determine a first initial path plan for the first vehicle to the docking target based on the target parameters and the first relative position of the docking target; Step 13: Determine a second initial path plan for the second vehicle to the docking target based on the target parameters and the second relative position of the docking target; Step 14: Based on the first initial path driving plan and the second initial path driving plan, the path driving planning results of the first vehicle and the second vehicle for collaborative docking are comprehensively determined.

3. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 2, characterized in that: Determining a first driving parameter of the first vehicle and a second driving parameter of the second vehicle includes: If both the first initial driving parameter and the second initial driving parameter meet the parameter safety requirements for collaborative docking, the first initial driving parameter is used as the first driving parameter of the first vehicle, and the second initial driving parameter is used as the second driving parameter of the second vehicle; If there is a driving parameter in the first initial driving parameter and the second initial driving parameter that does not meet the parameter safety requirements of collaborative docking, the first initial driving parameter and the second initial driving parameter are optimized based on the first relative ratio to obtain the first driving parameter of the first vehicle and the second driving parameter of the second vehicle.

4. The method for controlling the coordinated docking of two vehicles with a fine-tuning mechanism according to claim 2, characterized in that: Based on the initial driving plan, the vehicle performs real-time driving and the collaborative control device monitors the real-time positions of the first and second vehicles undergoing collaborative docking in real time, thereby comparing their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles undergoing collaborative docking are compared with the planned parameters, thereby obtaining a comprehensive comparison result of the two vehicles undergoing collaborative docking, including: Step 31: The first vehicle and the second vehicle to be collaboratively docked drive in real time according to the initial driving plan; Step 32: Monitoring, based on the collaborative control device, a first real-time position of the first vehicle undergoing collaborative docking and a second real-time position of the second vehicle undergoing collaborative docking; Step 33: Obtain the first planned position of the first vehicle and the second planned position of the second vehicle corresponding to the current moment in the initial driving plan; Step 34: performing a first comparison between the first planned position and the first real-time position, and performing a second comparison between the second planned position and the second real-time position; Step 35: The collaborative control device monitors the first real-time parameter of the first vehicle undergoing collaborative docking and performs a third comparison with the first planned parameter. Simultaneously, the collaborative control device monitors the second real-time parameter of the second vehicle undergoing collaborative docking and performs a fourth comparison with the second planned parameter. Step 36: Obtain a comprehensive comparison result of the two vehicles for collaborative docking based on the first comparison result, the second comparison result, the third comparison result, and the fourth comparison result.

5. The dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 4 is characterized in that: The comprehensive comparison results are analyzed to perform real-time high-precision docking control of the first and second vehicles in the coordinated docking based on the fine-tuning mechanism, including: Step 41: Obtaining a first comprehensive error of the first vehicle and a second comprehensive error of the second vehicle based on a comprehensive comparison result of the two vehicles undergoing collaborative docking; Step 42: Acquire real-time external environmental parameters to determine a first environmental parameter of the first vehicle and a second environmental parameter of the second vehicle; Step 43: respectively determining a first environmental impact error of the first environmental parameter on the first comprehensive error and a second environmental impact error of the second environmental parameter on the second comprehensive error; Step 44: obtaining a first error for the first vehicle based on the first environmental impact error and the first comprehensive error, and obtaining a second error for the second vehicle based on the second environmental impact error and the second comprehensive error; Step 45: Determine a first five-degree-of-freedom adjustment strategy corresponding to longitudinal movement, lifting and lowering, lateral movement of the first vehicle, and asynchronous lifting and swinging of the left and right vehicles based on the first error and the first real-time position of the first vehicle; Step 46: Determine a second five-degree-of-freedom adjustment strategy corresponding to the longitudinal movement, lifting and lowering, and lateral movement of the second vehicle, and the asynchronous lifting and swinging of the left and right vehicles based on the second error and the second real-time position of the second vehicle; Step 47: Obtaining a first adjustment time of the first adjustment strategy for the five degrees of freedom and a second adjustment time of the second adjustment strategy for the five degrees of freedom based on the adjustment response time of the target fine-tuning mechanism; Step 48: Compare the first adjustment time and the second adjustment time; If the time difference between the first adjustment time and the second adjustment time is less than the maximum error of fine-tuning, a first five-degree-of-freedom adjustment is performed on the first vehicle based on the first adjustment time, and a second five-degree-of-freedom adjustment is performed on the second vehicle based on the second adjustment time. If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first and second vehicles are adjusted with five degrees of freedom.

6. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 5, characterized in that: If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, then after optimizing the first adjustment time and the second adjustment time, the corresponding first and second vehicles are adjusted with five degrees of freedom, including: Step 481: When the time difference between the first adjustment time and the second adjustment time is not less than the maximum fine-tuning error, compare the first adjustment time and the second adjustment time, thereby extracting the longer adjustment time between the first adjustment time and the second adjustment time as the first reference time, and extracting the shorter adjustment time between the first adjustment time and the second adjustment time as the second reference time; Step 482: The first reference time is used as the standard time, and the second adjustment strategy corresponding to the second reference time is extended so that the time required by the second adjustment strategy corresponding to the second reference time is consistent with the standard time. Step 483: Based on the adjusted standard time, a first five-degree-of-freedom adjustment is performed on the corresponding first vehicle, and a second five-degree-of-freedom adjustment is performed on the corresponding second vehicle.

7. The dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 5, characterized in that: After performing real-time high-precision docking control, the process also includes: verifying the corresponding docking control results, specifically including: Step 01: Obtain the first-precision position of the first vehicle and the second-precision position of the second vehicle after high-precision docking control; Step 02: Compare and determine a first accuracy difference between the first precision position and a preset first standard position of the first vehicle, and a second accuracy difference between the second precision position and a preset second standard position of the second vehicle; Step 03: Predetermine a maximum accuracy difference based on the error range of the docking target, and compare the first accuracy difference, the second accuracy difference, and the maximum accuracy difference; If both the first accuracy difference and the second accuracy difference are smaller than the maximum accuracy difference, the docking control result for the collaborative docking is determined to be qualified; If the first precision difference and the second precision difference are both less than the maximum precision difference, it is determined that the docking control result of the collaborative docking is unqualified and the docking control needs to be re-performed.

8. A dual-vehicle coordinated docking control device with a fine-tuning mechanism, characterized in that: include: Driving planning module: used to obtain the target parameters of the docking target, thereby planning the path of the first and second vehicles for collaborative docking and obtaining the path planning results; Initial planning module: used to adjust the driving parameters of the first vehicle and the second vehicle for collaborative docking in real time based on the path driving planning results, thereby obtaining an initial driving plan, including: determining a first distance for the first vehicle to reach the docking target based on the first initial path driving plan, and at the same time, determining a second distance for the second vehicle to reach the docking target based on the second initial path driving plan; determining a first relative ratio value set of the driving parameters of the first vehicle and the second vehicle based on the relative ratio of the first distance and the second distance; obtaining the first initial driving parameters of the first vehicle, and determining the second initial driving parameters of the second vehicle based on the first relative ratio value set; judging whether the first initial driving parameters and the second initial driving parameters meet the parameter safety requirements for collaborative docking, thereby determining the first driving parameters of the first vehicle and the second driving parameters of the second vehicle; obtaining the initial driving plan based on the first driving parameters and the second driving parameters combined with the path driving planning results of the first vehicle and the second vehicle; Comprehensive comparison module: used to perform real-time driving based on the initial driving plan and monitor the real-time positions of the first and second vehicles undergoing collaborative docking in real time based on the collaborative control device, thereby comparing their positions with the planned positions. At the same time, the real-time parameters of the first and second vehicles undergoing collaborative docking are compared with the planned parameters to obtain a comprehensive comparison result of the two vehicles undergoing collaborative docking. Docking control module: used to analyze the comprehensive comparison results, so as to perform real-time high-precision docking control of the first and second vehicles for collaborative docking based on the fine-tuning mechanism.

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