Electric heavy truck battery pack positioning method and system based on laser ranging array

Abstract

The invention discloses an electric heavy truck battery pack positioning method and system based on a laser ranging array, and belongs to the technical field of battery pack positioning. According to the method, a sensing matrix composed of a plurality of laser distance measuring sensors is installed on a battery swap station fixing structure, and distance measurement values of the sensors after a vehicle enters are obtained; comparing the measured value with the effective measuring range to judge the validity state of each sensor; based on the distribution mode of the validity state in the sensing matrix, identifying the space coverage mode of the battery pack; the front and back positions of the battery pack are judged, and the transverse offset and the plane inclination angle are calculated; and finally, comparing the parameters with a preset threshold value, and generating an instruction for guiding a driver to adjust the vehicle. The system solves the problems of high cost, poor environmental adaptability and complex maintenance of the existing visual and complex laser radar scheme, and has the advantages of low cost, high reliability and wide applicability.

Description

Technical Field

[0001] This document relates to the field of battery pack positioning technology, and in particular to a method and system for positioning battery packs of electric heavy-duty trucks based on a laser ranging array. Background Technology

[0002] When battery-swapping electric heavy-duty trucks enter a heavy-duty truck battery swapping station for battery swapping operations, the station needs to accurately locate the vehicle's battery pack and send the location data to the battery swapping robot within the station. The robot then disassembles and installs the battery pack. Currently, the vehicle battery pack positioning system at battery swapping stations mainly relies on visual recognition. A 2D / 3D camera takes a picture of the battery pack, and the image is compared with a pre-calibrated image to achieve precise positioning.

[0003] However, since battery swapping stations are typically used outdoors, the natural environment has a significant impact on the visual cameras. Conditions such as strong light, shadows, rain, snow, wind, sand, and low temperatures can cause the cameras to fail to recognize the devices or have insufficient recognition accuracy, leading to battery swapping failures, disrupting operations, causing economic losses, and generating driver dissatisfaction. Furthermore, visual recognition methods require high-precision 2D / 3D cameras, resulting in high hardware costs. Additionally, the development of related algorithms and battery pack calibration is necessary, requiring recalibration for each battery pack, leading to high software development costs. Each mobile battery swapping station also requires recalibration, further increasing operational costs. This solution has high hardware and software costs, resulting in high maintenance and usage costs, which hinders its widespread adoption.

[0004] Therefore, there is an urgent need for a stable, reliable, high-precision, and low-cost solution to address the battery pack positioning problem. Summary of the Invention

[0005] This invention provides a method and system for positioning battery packs of electric heavy-duty trucks based on a laser ranging array, aiming to solve the above-mentioned problems.

[0006] According to an embodiment of the present invention, a method for locating battery packs of electric heavy-duty trucks based on a laser ranging array is provided, comprising: S1. A laser ranging sensor array is set on the fixed structure of the battery swapping station. Multiple laser ranging sensors in the array are arranged according to a predetermined spatial position relationship to form a sensing matrix. S2. After the battery swapping vehicle enters the battery swapping area, control each sensor in the laser ranging sensor array to work and obtain the distance measurement value from each sensor to the surface of the vehicle or battery pack. S3. Based on the distance measurement values ​​of each sensor and their preset coordinate positions in the perception matrix, and in combination with the validity status of the measurement values ​​of each sensor, identify the spatial coverage pattern of the battery pack in the projection area of ​​the perception matrix. The validity status is determined based on whether valid distance measurement data has been obtained. S4. Based on the spatial coverage mode, determine the front and rear position of the battery pack in the vehicle's direction of travel, and calculate the lateral position offset of the battery pack relative to the preset lateral baseline. S5. Based on the distance measurements from at least two sensors located on different sides of the battery pack, and in conjunction with the known dimensions of the battery pack, calculate the tilt angle of the battery pack relative to a preset reference plane. S6. Based on the front and rear position status, the lateral position offset, and the plane tilt angle, generate guidance instructions to guide the driver to adjust the vehicle's posture or position.

[0007] According to an embodiment of the present invention, a battery pack positioning system for electric heavy-duty trucks based on a laser ranging array is provided, comprising: The laser ranging array unit consists of multiple laser ranging sensors that are fixedly installed on the structure of the battery swapping station according to a predetermined spatial relationship. These sensors together form a sensing matrix. The control and acquisition unit is connected to the laser ranging array unit and is used to control each sensor and acquire the distance measurement values ​​of each sensor in sequence. The data processing unit is communicatively connected to the control and acquisition unit. It is used to identify the spatial coverage pattern of the battery pack based on the distance measurement values ​​of each sensor and their preset coordinate positions in the perception matrix, combined with the validity status of the measurement values, and to determine the front and rear position status of the battery pack, calculate its lateral position offset and plane tilt angle according to the pattern. The guidance output unit, connected to the data processing unit, is used to generate and output guidance instructions for guiding the driver to adjust the vehicle based on the front-rear position status, lateral position offset, and plane tilt angle information output by the data processing unit.

[0008] This invention transforms the complex spatial positioning problem into binary pattern recognition of the sensor's effective state by setting up a fixed laser ranging sensor array. Combined with simple geometric calculations and threshold comparisons, it achieves rapid and robust judgment and real-time guidance of the front-to-back position, lateral offset, and tilt angle of the battery pack in electric heavy-duty trucks. This solution abandons high-cost vision systems and complex point cloud processing algorithms, featuring a simple hardware structure, strong environmental adaptability, and immunity to interference from lighting, rain, and snow. It significantly reduces the system's purchase, maintenance, and calibration costs, and improves the operational reliability and applicability of battery swapping stations. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a flowchart of the electric heavy truck battery pack positioning method based on a laser ranging array according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the installation position of the laser ranging array according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the working principle of the laser ranging array according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the laser ranging array arrangement according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a second laser ranging array arrangement according to an embodiment of the present invention. Detailed Implementation

[0011] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0012] Method Implementation Examples According to embodiments of the present invention, a method for positioning battery packs of electric heavy-duty trucks based on laser ranging arrays is provided. Figure 1 This is a flowchart of a method for positioning battery packs of electric heavy-duty trucks based on a laser ranging array, according to an embodiment of the present invention. Figure 1 As shown, the electric heavy-duty truck battery pack positioning method based on a laser ranging array according to an embodiment of the present invention specifically includes: S1. A laser ranging sensor array is set on the fixed structure of the battery swapping station. Multiple laser ranging sensors in the array are arranged according to a predetermined spatial position relationship to form a sensing matrix. The sensor arrangement in the perception matrix is ​​as follows: multiple sensors are distributed along the vehicle's transverse and / or longitudinal direction, forming a non-contact ranging array capable of covering the expected outline area of ​​the battery pack and part of its surrounding area. The laser ranging sensor array described in this invention logically constitutes a unified perception unit. In actual installation, to adapt to the structure below the vehicle's battery compartment door or other mounting positions, the sensors in this array can be centrally arranged on a mounting plate, or they can be distributed and modularly arranged in multiple locations as needed. For example, in a preferred embodiment, such as... Figure 3 , Figure 4 As shown, the perception matrix is ​​specifically composed of a first subarray and a second subarray symmetrically arranged on both sides of the vertical center line of the battery compartment door. These two subarrays perform data acquisition and fusion processing in the same preset coordinate system and are logically regarded as a whole perception matrix.

[0013] S2. After the battery swapping vehicle enters the battery swapping area, control each sensor in the laser ranging sensor array to work and obtain the distance measurement value from each sensor to the surface of the vehicle or battery pack. S3. Based on the distance measurement values ​​of each sensor and their preset coordinate positions in the perception matrix, and in combination with the validity status of the measurement values ​​of each sensor, identify the spatial coverage pattern of the battery pack in the projection area of ​​the perception matrix. The validity status is determined based on whether valid distance measurement data has been obtained. The validity status is determined by comparing the distance measurement value of each sensor with a preset effective range threshold: if the measurement value is within the effective range, it is determined to be valid; otherwise, it is determined to be invalid. This determination process converts continuous ranging data into a binary state of valid or invalid.

[0014] The spatial coverage pattern of the identified battery pack within the projection area of ​​the sensing matrix specifically includes: The perception matrix is ​​divided into front, middle and rear zones according to the vehicle's direction of travel. Based on the distribution of valid sensor measurements in the front, middle, and rear zones, it can be determined whether the battery pack is entirely located in the front, middle, or rear zone, or whether it covers multiple zones. For example, if the vast majority of valid sensors are concentrated in the middle zone, and the front and rear zones are mostly invalid, it can be determined that the battery pack is basically located at the correct position before and after the potential exchange.

[0015] S4. Based on the spatial coverage mode, determine the front and rear position of the battery pack in the vehicle's direction of travel, and calculate the lateral position offset of the battery pack relative to the preset lateral baseline. The criteria for determining the preceding and following position states are as follows: If the number of sensors with valid measurements in the front zone is greater than the first preset threshold, and the number of sensors with valid measurements in the middle and rear zones is less than or equal to the second preset threshold, then the battery pack is determined to be positioned too far back, and the driver should be prompted to move the vehicle forward. If the number of sensors with valid measurements in the central area is greater than the third preset threshold, the battery pack position is determined to be correct. If the number of sensors with valid measurements in the rear zone is greater than the fourth preset threshold, and the number of sensors with valid measurements in the front and middle zones is less than or equal to the fifth preset threshold, then the battery pack is determined to be positioned too far forward, and the driver should be prompted to move the vehicle backward.

[0016] The method for calculating the lateral position offset is as follows: The effective measurement boundaries of the battery pack are identified based on the spatial coverage pattern; The distance between the geometric center of the effective measurement boundary and the preset lateral reference line is calculated as the lateral position offset. The preset lateral reference line is typically a reference line defined within the battery swapping station that coincides with or is parallel to the ideal parking centerline of the vehicle.

[0017] S5. Based on the distance measurements from at least two sensors located on different sides of the battery pack, and in conjunction with the known dimensions of the battery pack, calculate the tilt angle of the battery pack relative to a preset reference plane. Preferably, the two selected sensors should be located approximately on both sides of the battery pack in the width direction or at both ends in the length direction.

[0018] The calculation of the tilt angle of the battery pack relative to the preset reference plane is specifically achieved through the following formula: ; in, Let d1 and d2 be the plane tilt angles, d1 and d2 be the distance values ​​measured by sensors located on opposite sides of the battery pack, and L be the known width or length of the battery pack in the measurement directions d1 and d2. Here, the distance values ​​d1 and d2 should be measurements taken under effective conditions.

[0019] S6. Based on the front and rear position status, the lateral position offset, and the plane tilt angle, generate guidance instructions to guide the driver to adjust the vehicle's posture or position.

[0020] Specifically, the generation of guidance instructions includes comparing the front and rear position states (e.g., forward, correct, backward), the absolute value and direction of the lateral position offset, and the absolute value of the plane tilt angle with preset allowable thresholds. If any parameter exceeds its corresponding allowable threshold, a guidance instruction containing a specific adjustment direction is generated, such as "please adjust slightly to the left" or "the vehicle is too tilted." If all parameters are within the allowable thresholds, a ready instruction indicating successful positioning is generated.

[0021] The boot instructions include at least one of the following: Longitudinal adjustment commands used to indicate whether a vehicle is moving forward or backward; Lateral adjustment commands used to indicate whether a vehicle should move to the left or right; A posture warning command used to indicate that the vehicle has a yaw angle.

[0022] The system indicates that the vehicle has reached the correct position for switching electrical charges and is ready to proceed.

[0023] Figure 2 This is a schematic diagram of the installation of the laser ranging array in a heavy-duty truck battery swapping station according to an embodiment of the present invention.

[0024] As shown in the figure, the core sensing device of this invention, the laser ranging sensor array, is deployed as an independent, integrated functional unit within the operating area of ​​the heavy-duty truck battery swapping station. Its specific installation scenario and characteristics are as follows: Installation location and orientation: The array is fixedly installed on the side of the vehicle parking space within the battery swapping station, with its detection plane parallel to the vehicle's expected parking direction, thereby ensuring that the battery pack on the side of the vehicle can enter the effective detection range of the array when the vehicle drives in.

[0025] Installation method: The diagram shows two identical laser rangefinders arranged in a single unit, emphasizing that the array is physically a complete module. This modular design facilitates rapid installation, commissioning, and maintenance at battery swapping stations.

[0026] System Integration: This array is a key component of the battery swapping guidance system at heavy-duty truck battery swapping stations. It connects to the station's control system via cables, forming a complete positioning and guidance solution.

[0027] Working Scenario: This diagram clarifies that the application environment of this invention is a heavy-duty truck battery swapping station. The array is fixed to the station's infrastructure and does not move with the vehicles; it is specifically used to locate the battery packs of heavy-duty electric trucks that enter the station and require battery swapping.

[0028] Example 1 Figure 4 This is a schematic diagram of a laser ranging array arrangement according to an embodiment of the present invention. Figure 4As can be seen, in this preferred embodiment, two independent lidar units are used. These two lidar units are typically mounted symmetrically at a certain angle on a fixed structure below or on both sides of the battery compartment door.

[0029] After the vehicle enters, each sensor works independently, measuring the distance from its own mounting point to a point on the vehicle's battery pack or vehicle surface, obtaining a set of discrete, long-distance measurement values ​​with different locations.

[0030] The distance measurements from each sensor are compared with the preset effective range to determine their validity. Since the sensors are installed independently, their measurements may come from different parts of the battery pack or even other parts of the vehicle body. Therefore, it is necessary to identify and exclude isolated valid measurement points that are unrelated to the battery pack's positioning.

[0031] By utilizing measurements from multiple effective sensors and their known, dispersed installation coordinates, triangulation or multi-point positioning algorithms can be used to infer the position and angle of the battery pack in space.

[0032] Estimate the front-to-back position, lateral offset, and tilt angle of the battery pack.

[0033] The estimated parameters are compared with the threshold to generate a guiding instruction.

[0034] The driver adjusts the vehicle according to the instructions, and the system repeats the above steps until the parameters meet the requirements.

[0035] Example 2 Figure 5 This is a schematic diagram of a second laser ranging array arrangement according to an embodiment of the present invention. Figure 5 It is understood that in another preferred embodiment, an integrated array unit is used.

[0036] When an electric heavy truck enters the battery swapping lane, all sensors in the array are triggered synchronously to measure the distance from each sensor to the vehicle's battery pack or chassis surface, thus obtaining a set of distance measurement values.

[0037] The distance measurement value of each sensor is compared with a preset effective range threshold. If the measurement value is within the threshold range, the sensor is determined to be in an effective state; otherwise, it is in an ineffective state. This converts continuous distance values ​​into a binary sequence of effective / ineffective states.

[0038] Based on the known fixed coordinates of each sensor in the array and its current validity status, the coverage pattern of the battery pack within the array projection area is identified. Specifically: The array is divided into front, middle and rear sections along the direction of vehicle travel.

[0039] The number and distribution of sensors in active status in each area were statistically analyzed.

[0040] The position of the battery pack is determined according to preset rules: for example, if the effective sensors are mainly distributed in the middle area, the position is determined to be correct; if they are mainly distributed in the front area, the position is determined to be too far back; if they are mainly distributed in the rear area, the position is determined to be too far forward.

[0041] Select the sensors on the left and right sides of the array that are in an active state and are located on the outermost side. Calculate the center point using their known fixed lateral coordinates and compare it with the preset lateral baseline to obtain the lateral offset and direction.

[0042] Two sensors in active condition are selected on the same side of the array. Their known fixed vertical coordinate difference is used as a reference distance. Combined with the effective distance measurements of the two sensors, the local tilt angle on that side is calculated using the arctangent formula. The overall tilt is evaluated by combining the results from both sides.

[0043] The calculated lateral offset and tilt angle are compared with preset allowable thresholds: If any parameter exceeds the threshold, a corresponding adjustment command is generated (such as a slight leftward adjustment or the vehicle body tilting and needing to be straightened).

[0044] If all parameters are within the thresholds, the positioning is successful, and a stop instruction is issued. Guidance instructions are output via a display screen, indicator lights, or voice device to guide the driver's actions.

[0045] The driver adjusts the vehicle's position according to the instructions, and the system continues to repeat the above steps until all parameters are measured within the threshold range several times in a row. Finally, the positioning is confirmed to be complete, and the system outputs a ready signal to the battery swapping robot.

[0046] By employing the embodiments of the present invention, the following beneficial effects are achieved: This invention transforms the complex spatial positioning problem into binary pattern recognition of the sensor's effective state by setting up a fixed laser ranging sensor array. Combined with simple geometric calculations and threshold comparisons, it achieves rapid and robust judgment and real-time guidance of the front-to-back position, lateral offset, and tilt angle of the battery pack in electric heavy-duty trucks. This solution abandons high-cost vision systems and complex point cloud processing algorithms, featuring a simple hardware structure, strong environmental adaptability, and immunity to interference from lighting, rain, and snow. It significantly reduces the system's purchase, maintenance, and calibration costs, and improves the operational reliability and applicability of battery swapping stations.

[0047] System Implementation Examples According to an embodiment of the present invention, a battery pack positioning system for electric heavy-duty trucks based on a laser ranging array is provided, comprising: The laser ranging array unit consists of multiple laser ranging sensors that are fixedly installed on the structure of the battery swapping station according to a predetermined spatial relationship. These sensors together form a sensing matrix. The control and acquisition unit is connected to the laser ranging array unit and is used to control each sensor and acquire the distance measurement values ​​of each sensor in sequence. The data processing unit is communicatively connected to the control and acquisition unit. It is used to identify the spatial coverage pattern of the battery pack based on the distance measurement values ​​of each sensor and their preset coordinate positions in the perception matrix, combined with the validity status of the measurement values, and to determine the front and rear position status of the battery pack, calculate its lateral position offset and plane tilt angle according to the pattern. The guidance output unit, connected to the data processing unit, is used to generate and output guidance instructions for guiding the driver to adjust the vehicle based on the front-rear position status, lateral position offset, and plane tilt angle information output by the data processing unit.

[0048] The data processing unit calculates the plane tilt angle by performing the following operations: From the laser ranging array unit, select the effective distance measurements d1 and d2 of at least two sensors located on opposite sides of the battery pack; Retrieve the known dimensions L of the pre-stored battery pack in the measurement directions d1 and d2; According to the formula The tilt angle θ of the plane is calculated.

[0049] The data processing unit is further used to: compare the collected distance measurement values ​​with a preset effective range threshold to determine the validity status of each sensor measurement value.

[0050] Figure 3 This is a schematic diagram illustrating the working principle of the laser ranging array according to an embodiment of the present invention. Figure 3 As can be seen, the system of the present invention mainly includes the following components: Laser rangefinder sensor array: Composed of laser rangefinder sensors R1, R2, …, R10 as shown in the diagram. These sensors are evenly arranged along a straight line with a spacing of 200mm, and are mounted together on a base or guide rail to form a physically integrated linear array unit. The total length of this array unit is approximately 810mm. Data acquisition and communication module: The array is connected to the data terminal via an RS485 communication bus to realize centralized acquisition and uploading of sensor measurement data.

[0051] Power supply module: The array is powered by a power supply module through a stop power supply, which ensures the synchronization and stability of the operation of all sensors.

[0052] Target positioning: The diagram clearly shows the lateral position of the battery pack on the vehicle, as well as its position in the front and rear directions. The array is mounted aligned with the side of the battery pack, ensuring that the array's measurement range covers the length of the battery pack.

[0053] System Layout: The entire array unit, data terminal, and power module are integrated and installed on a fixed structure of the battery swapping station (such as the ground or side wall), forming an independent and fixed sensing terminal. The diagram marks the power outage on the same side, further clarifying that all equipment is installed on the same side of the vehicle parking space.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning battery packs in electric heavy-duty trucks based on a laser ranging array, characterized in that, include: S1. A laser ranging sensor array is set on the fixed structure of the battery swapping station. Multiple laser ranging sensors in the array are arranged according to a predetermined spatial position relationship to form a sensing matrix. S2. After the battery swapping vehicle enters the battery swapping area, control each sensor in the laser ranging sensor array to work and obtain the distance measurement value from each sensor to the surface of the vehicle or battery pack. S3. Based on the distance measurement values ​​of each sensor and their preset coordinate positions in the perception matrix, and in combination with the validity status of the measurement values ​​of each sensor, identify the spatial coverage pattern of the battery pack in the projection area of ​​the perception matrix. The validity status is determined based on whether valid distance measurement data has been obtained. S4. Based on the spatial coverage mode, determine the front and rear position of the battery pack in the vehicle's direction of travel, and calculate the lateral position offset of the battery pack relative to the preset lateral baseline. S5. Based on the distance measurements from at least two sensors located on different sides of the battery pack, and in conjunction with the known dimensions of the battery pack, calculate the tilt angle of the battery pack relative to a preset reference plane. S6. Based on the front and rear position status, the lateral position offset, and the plane tilt angle, generate guidance instructions to guide the driver to adjust the vehicle's posture or position.

2. The method according to claim 1, wherein identifying the spatial coverage pattern of the battery pack within the projection area of ​​the sensing matrix specifically includes: The perception matrix is ​​divided into front, middle and rear zones according to the vehicle's direction of travel. Based on the effective distribution of sensor measurements in the front, middle, and rear zones, it can be determined whether the battery pack is located entirely in the front, middle, or rear zone, or whether it covers multiple zones.

3. The method according to claim 2, characterized in that, The criteria for determining the preceding and following position states are as follows: If the number of sensors with valid measurements in the front area is greater than the first preset threshold, and the number of sensors with valid measurements in the middle and rear areas is less than or equal to the second preset threshold, then the battery pack is determined to be positioned too far back. If the number of sensors with valid measurements in the central area is greater than the third preset threshold, the battery pack position is determined to be correct. If the number of sensors with valid measurements in the rear area is greater than the fourth preset threshold, and the number of sensors with valid measurements in the front and middle areas is less than or equal to the fifth preset threshold, then the battery pack is determined to be positioned too far forward.

4. The method according to claim 1, characterized in that, The calculation of the tilt angle of the battery pack relative to the preset reference plane is specifically achieved through the following formula: ； in, Let d1 and d2 be the angle of inclination of the plane, d1 and d2 be the distance values ​​measured by sensors located on opposite sides of the battery pack, and L be the known width or length of the battery pack in the measurement directions of d1 and d2.

5. The method according to claim 1, characterized in that, The method for calculating the lateral position offset is as follows: The effective measurement boundaries of the battery pack are identified based on the spatial coverage pattern; The distance between the geometric center of the effective measurement boundary and the preset lateral baseline is calculated as the lateral position offset.

6. The method according to claim 1, characterized in that, The boot instructions include at least one of the following: Longitudinal adjustment commands used to indicate whether a vehicle is moving forward or backward; Lateral adjustment commands used to indicate whether a vehicle should move to the left or right; A posture warning command used to indicate that the vehicle has a yaw angle.

7. The method according to claim 1, characterized in that, The sensors in the perception matrix are arranged as follows: multiple sensors are distributed along the vehicle's transverse and / or longitudinal direction to form a non-contact ranging array that can cover the expected outline area of ​​the battery pack and part of its surrounding area.

8. A battery pack positioning and guiding system for electric heavy-duty trucks that implements the method as described in any one of claims 1 to 7, characterized in that, include: The laser ranging array unit consists of multiple laser ranging sensors that are fixedly installed on the structure of the battery swapping station according to a predetermined spatial relationship. These sensors together form a sensing matrix. The control and acquisition unit is connected to the laser ranging array unit and is used to control each sensor and acquire the distance measurement values ​​of each sensor in sequence. The data processing unit is communicatively connected to the control and acquisition unit. It is used to identify the spatial coverage pattern of the battery pack based on the distance measurement values ​​of each sensor and their preset coordinate positions in the perception matrix, combined with the validity status of the measurement values, and to determine the front and rear position status of the battery pack, calculate its lateral position offset and plane tilt angle according to the pattern. The guidance output unit, connected to the data processing unit, is used to generate and output guidance instructions for guiding the driver to adjust the vehicle based on the front-rear position status, lateral position offset, and plane tilt angle information output by the data processing unit.

9. The system according to claim 8, characterized in that, The data processing unit calculates the plane tilt angle by performing the following operations: From the laser ranging array unit, select the effective distance measurements d1 and d2 of at least two sensors located on opposite sides of the battery pack; Retrieve the known dimensions L of the pre-stored battery pack in the measurement directions d1 and d2; According to the formula The tilt angle θ of the plane is calculated.

10. The system according to claim 8, characterized in that, The data processing unit is further used to: compare the collected distance measurement values ​​with a preset effective range threshold to determine the validity status of each sensor measurement value.

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