The invention discloses a docking method for a tractor and a towed target, and belongs to the technical field of intelligent driving. The method comprises the following steps: acquiring spatial distribution information of all sampling points in target point cloud data; fitting reference parameters of the target based on the distribution information; determining a target position by using the reference parameters; planning the traction path based on the target position; by means of the technical scheme, the problem that according to a butt joint method of a tractor and a towed target in the prior art, as time increases, the target possibly has the phenomena such as bulging and/or edge warping and/or swinging, the target spot deviates, and consequently a traction device and a butt joint device of the tractor cannot be in butt joint correctly is solved, and the butt joint accuracy of the tractor and the towed target is improved. The technical effect that the tractor and the towed target are in accurate butt joint is achieved.

    本发明公开一种牵引车和被牵引目标的对接方法,属于智能驾驶技术领域;所述方法包括:获取靶标点云数据中所有采样点的空间分布信息;基于所述分布信息拟合所述靶标的参照参数;利用所述参照参数确定靶标位置;基于所述靶标位置规划所述牵引路径;通过上述技术方案,解决了现有技术中的牵引车和被牵引目标的对接方法,在靶标随着时间增长,靶标可能会出现例如鼓包和/或翘边和/或摆动等现象导致的靶点出现偏移,从而导致出现牵引车的牵引装置和对接装置不能正确对接的问题,实现了将牵引车和被牵引目标进行准确的对接的技术效果。


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    Titel :

    Docking method of tractor and towed target and electronic equipment


    Weitere Titelangaben:

    牵引车和被牵引目标的对接方法和电子设备


    Erscheinungsdatum :

    2023-07-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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