The invention discloses a parking positioning method for an automatic driving port vehicle, and the method comprises the steps: firstly, controlling a laser radar on the automatic driving port vehicle to automatically scan a container region on one side of a lane where the automatic driving port vehicle is located, and generating each point cloud protruding region which represents the transverse size, parallel to the lane direction, of each container; the transverse size of each point cloud protruding area is compared with the transverse size of the target container, and a point cloud protruding area matched with the transverse size of the target container is determined to serve as a target area of the target container; according to the transverse distance difference value lambda between the current position of the automatic driving port vehicle and the target area, the automatic driving port vehicle is controlled to run to the transverse distance difference value lambda within the preset difference value range meeting the parking standard, and accurate parking positioning of the automatic driving port vehicle is completed. According to the method, the target area of the target container is determined by using the point cloud generated by the laser radar, so that positioning is more accurate.
本发明公开了一种自动驾驶港口车的停车定位方法,步骤包括:首先,控制自动驾驶港口车上的激光雷达自动扫描自动驾驶港口车所在车道一侧的集装箱区域,生成表征各集装箱的平行于车道方向的横向尺寸的各点云凸出区域;然后将各点云凸出区域的横向尺寸与目标集装箱的横向尺寸进行比对,确定与目标集装箱的横向尺寸相匹配的一个点云凸出区域,作为目标集装箱的目标区域;再根据自动驾驶港口车的自身当前位置与目标区域之间的横向距离差值λ,控制自动驾驶港口车行驶至横向距离差值λ位于符合停车标准的预设差值范围内,完成自动驾驶港口车的精准停车定位。本方法利用激光雷达生成的点云确定目标集装箱的目标区域,使得定位更加精准。
Parking positioning method for automatic driving port vehicle
一种自动驾驶港口车的停车定位方法
2021-08-24
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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