JP7327725B2 - Vehicle docking method, apparatus, electronic device and readable storage medium - Google Patents

Description

This application claims priority from a Chinese patent application filed on April 16, 2021 with application number 202110412364.0 entitled "Vehicle Docking Method, Apparatus, Electronic Device and Readable Storage Medium". ing.
TECHNICAL FIELD The present disclosure relates to the field of data processing technology, particularly to the fields of automatic driving and smart traffic technology. Vehicle docking methods, apparatus, electronic devices and readable storage media are provided.

There is a demand for self-driving vehicles to enter and stop at stations, such as self-driving buses stopping at platforms to pick up passengers. Therefore, high docking accuracy is required for self-driving vehicles.

In the prior art, positioning methods such as GPS, GNSS, point cloud, etc. are usually used to complete docking, or sensors are used to recognize home reference objects to complete docking. However, the conventional technology has problems such as interference of the positioning signal and obstruction of reference objects when docking the self-driving vehicle using the above-mentioned method, and the docking accuracy of the self-driving vehicle is low. there is a technical problem.

The present disclosure provides vehicle docking methods, apparatus, electronic devices and readable storage media that simplify vehicle docking flow and improve vehicle docking accuracy.

According to the first aspect of the present disclosure, a first control command is issued in response to detecting that the vehicle is approaching the platform, and the first connection device in the vehicle is connected to the second connection device in the platform. to acquire the extension length of the first connection device, and when it is determined that the extension length satisfies a predetermined condition, a second control command is issued to stop the vehicle. A method for docking a vehicle is provided, including controlling a vehicle to complete docking.

According to the second aspect of the present disclosure, the first control command is issued in response to detecting that the vehicle is approaching the platform, and the first connection device in the vehicle is connected to the second connection device in the platform. a first control unit that controls to be connected to the first connection device, a processing unit that acquires the extension length of the first connection device, and a second control when it is determined that the extension length satisfies a predetermined condition and a second controller that issues a command to control the vehicle to stop and complete docking.

According to a third aspect of the present disclosure, comprising at least one processor and a memory communicatively connected to the at least one processor, wherein commands executable by the at least one processor are stored in the memory An electronic device is provided which causes the at least one processor to perform the above method when the command is executed by the at least one processor.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer commands for causing a computer to perform the method described above.

According to a fifth aspect of the disclosure there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method described above.

As can be seen from the above technical solutions, the present disclosure arranges the first connection device on the vehicle and the second connection device on the platform, so that while the vehicle approaches the platform and is docked, the first connection device Docking is completed according to the extension length when the connecting device is connected to the second connecting device, so there is no need for positioning using GPS signals, and the vehicle can plan the docking trajectory without being affected by obstacles. The accuracy required for docking is reduced, the vehicle docking flow is simplified, and the vehicle docking accuracy is improved.

It should be understood that nothing described in this section is intended to mark key or essential features of the embodiments of the disclosure or to limit the scope of the disclosure. Other features of the present disclosure will be readily understood from the following specification.

The drawings are for better understanding of the present technical solution and are not limiting in the present application. In the drawing:
1 is a schematic diagram according to a first embodiment of the present disclosure; FIG. FIG. 4 is a schematic diagram according to a second embodiment of the present disclosure; FIG. 5 is a schematic diagram according to a third embodiment of the present disclosure; FIG. 5 is a schematic diagram according to a fourth embodiment of the present disclosure; FIG. 5 is a schematic diagram according to a fifth embodiment of the present invention; FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure; 1 is a block diagram of an electronic device for implementing a vehicle docking method according to an embodiment of the present disclosure; FIG.

Exemplary embodiments of the present disclosure will now be described with reference to the drawings. Various details of the embodiments of the disclosure are included for ease of understanding and should be considered as exemplary only. Accordingly, those skilled in the art should appreciate that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the disclosure. Similarly, for the sake of clarity, descriptions of well-known functions and constructions are omitted in the following description.

FIG. 1 is a schematic diagram according to a first embodiment of the invention. As shown in FIG. 1, the vehicle docking method of the present embodiment can specifically include the following steps.

In S101, in response to detecting that the vehicle is approaching the platform, a first control command is issued so that the first connection device in the vehicle is connected to the second connection device in the platform. Control.

At S102, the extension length of the first connecting device is acquired.

In S103, when it is determined that the extension length satisfies the predetermined condition, a second control command is issued to stop the vehicle and complete docking.

In the vehicle docking method of the present embodiment, the first connection device is arranged on the vehicle and the second connection device is arranged on the platform. Since docking is completed according to the extension length when connected to the 2-connection device, there is no need for positioning using GPS signals and is not affected by obstacles. reduced accuracy, simplified vehicle docking flow, and improved vehicle docking accuracy.

The execution subject of this embodiment is a planning module, which is arranged in the vehicle, for example, for planning a route in the vehicle. The vehicle may be a shuttle bus, a bus, etc. for picking up passengers, which has an automatic driving function.

In this embodiment, the first connecting device is a length-changeable connecting rod arranged on the upper part of the vehicle, for example, a collapsible or extendable connecting rod. In this embodiment, the number of connecting rods included in the first connecting device is not limited, and may be one or plural.

Preferably, the first connecting device in this embodiment includes two connecting rods, specifically a first connecting rod located at the head of the vehicle and a second connecting rod located at the rear of the vehicle. include.

In this embodiment, the second connecting device is a guide rail that is placed above the platform and parallel to the road boundary. Therefore, the first connecting device in this embodiment can move in the horizontal direction of the second connecting device after being connected to the second connecting device.

In this embodiment, the first connection device is connected to the second connection device after the first connection device is extended, and the first connection device connected to the second connection device is operable. is movable on the second connection device, the first control command issued by S101 is executed.

In the present embodiment, when executing S101, the first control command may be issued after detecting that the vehicle has completed the planning of the docking route. For example, the first control command is issued after detecting that the vehicle has switched to a lane closer to the home by selecting a branch road or changing lanes and has decelerated.

On the other hand, normally, there is still a long distance between the vehicle and the platform after the vehicle completes the docking route planning. It can affect vehicles and pedestrians and cause traffic accidents.

In order to improve the accuracy when the first connection device is connected to the second connection device and to ensure the safety of the vehicle, in the present embodiment, S101 is executed to detect that the vehicle is approaching the platform. When issuing the first control command in response to the detection, the following optional implementation schemes can be employed. That is, the distance between the vehicle and the platform is acquired, for example, the linear distance between the vehicle and the platform is acquired, and when it is determined that the acquired distance is less than a predetermined distance threshold, the first Issue control commands.

It should be understood that the first control command issued by executing S101 in the present embodiment has a preset decompression step width from when it is determined that the second connection device is connected to when decompression is stopped. In other words, the command may be a command to control to be connected to the second connection device by a plurality of times of extension. The first control command issued by executing S101 in the present embodiment is a command for controlling to extend the first connection device according to the distance between the vehicle and the first connection device, that is, the second connection It may be a command to control to be connected to the device by a single decompression.

In this embodiment, after executing S101 to issue the first control command, S102 is executed to acquire the extension length of the first connection device.

In the process of approaching the platform and docking the vehicle, the attitude of the vehicle is constantly adjusted, and the extension length of the first connection device connected to the second connection device is also constantly changed. Therefore, in this embodiment, by acquiring the extension length of the first connecting device, it is possible to improve the acquisition accuracy of the extension length, and further improve the efficiency when the vehicle is accurately docked. .

When one connecting rod is included in the first connecting device in this embodiment, only the extension length of one connecting rod is obtained when executing S102 in this embodiment. When the first connecting device in the present embodiment includes a plurality of connecting rods, when executing S102 in the present embodiment, the extension length of each connecting rod is acquired, for example, the extension length of the first connecting rod and the extended length of the second connecting rod are obtained respectively.

In the present embodiment, after S102 is executed to acquire the extension length of the first connection device, S103 is executed, and when it is determined that the extension length satisfies a predetermined condition, the second control command is issued. Issue a command to stop the vehicle and complete docking.

In the present embodiment, when it is determined whether or not the extension length of the first connection device satisfies the predetermined condition by executing S103, specifically, the extension length of the first connection device exceeds the predetermined docking distance. is equal to or not.

Specifically, when one connecting rod is included in the first connecting device in this embodiment, it is determined in this embodiment that the extension length acquired by executing S103 satisfies a predetermined condition. In this case, it is determined whether the extended length of the connecting rod is equal to the predetermined docking distance, and if it is determined that the extended length of the connecting rod is equal to the predetermined docking distance, the second 2 control commands may be issued.

When the first connecting device in the present embodiment includes a plurality of connecting rods, for example, includes two connecting rods, in the present embodiment, the extension length obtained by executing S103 is a predetermined length. If it is determined that the condition is satisfied, it is determined whether the extension length of the two connecting rods is equal to the predetermined docking distance, and the extension length of the two connecting rods is the predetermined docking distance. The second control command may be issued when it is determined that they are equal.

In the present embodiment, the second control command issued when S103 is executed and it is determined that the extension length satisfies the predetermined condition includes the first connection control command in addition to the command to stop the vehicle. A command to lock the device can be included. As a result, the first connection device connected to the second connection device is prevented from expanding and contracting as the vehicle travels, and the orientation angle of the vehicle is restricted to be maintained constant.

In the present embodiment, after executing S103 and issuing the second control command, after detecting that the vehicle is about to leave the platform, the third control command is issued to switch the first connection device to the second connection device. When it is determined that the first connection device has been recovered above the vehicle, a fourth control command is issued to start the vehicle from the home and exit the platform. It may further comprise controlling.

That is, in the present embodiment, after it is determined that the first connection device connected to the second connection device is disconnected and collected above the vehicle, a command is issued to control the exit of the vehicle from the platform. It is possible to avoid traffic accidents caused by the connecting device not retracting, and improve the safety of vehicle travel.

In this embodiment, the first connection device is arranged on the vehicle and the second connection device is arranged on the platform according to the method described above, so that the second connection device is connected in the process of the vehicle approaching the platform and docking. It achieves the purpose of completing docking according to the extension length of the first connection device, does not strictly depend on GPS positioning, and is not subject to interference of positioning signals by obstacles, so when planning the docking trajectory by the vehicle We reduced the accuracy requirements, simplified the flow when the vehicle docked to the platform, and ensured the accuracy when the vehicle docked to the platform.

FIG. 2 is a schematic diagram according to a second embodiment of the invention. As shown in FIG. 2, the present embodiment may further include the following steps after executing S102 "Obtain the extension length of the first connection device".

At S201, the angle between the road and the direction of the vehicle is determined according to the extended length of the first connecting rod and the extended length of the second connecting rod of the first connecting device.

In S202, the attitude of the vehicle is adjusted according to the angle until the angle reaches a predetermined angle.

That is, in the present embodiment, the extension length of the first connecting device is further used as auxiliary information to adjust the posture of the vehicle, so that the direction of the vehicle becomes parallel to the road as soon as possible and the vehicle travels in a straight line. It is also possible to increase the speed at which accurate docking is performed.

In this embodiment, when executing S201 to determine the angle between the road and the direction of the vehicle based on the extension length of the first connecting rod and the extension length of the second connecting rod in the first connecting device, the following can be used.

where θ denotes the angle between the orientation of the road and the vehicle, Lf denotes the extension length of the second connecting rod, Le denotes the extension length of the first connecting rod, and H denotes the length of the vehicle. show.

The predetermined angle in this embodiment may be 0°, i.e. stop adjusting after determining that the orientation of the vehicle is parallel to the road based on the angle. It should be understood that the predetermined angle in this embodiment may be other values, and the present disclosure is not limited thereto.

FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure; As shown in FIG. 3, in this embodiment, when executing S103 "issue a second control command when it is determined that the extension length satisfies a predetermined condition", the following steps are concretely performed. may be explicitly included.

At S301, the position of a predetermined docking point is obtained.

If it is determined in S302 that the vehicle has arrived at the predetermined docking point and the extension length satisfies a predetermined condition, a second control command is issued.

That is, in this embodiment, in addition to determining whether the extension length satisfies the predetermined requirements, it is determined whether the vehicle has arrived at the predetermined docking point. It can be docked to the vehicle, further improving the docking accuracy of the vehicle.

In this embodiment, the predetermined docking point obtained by executing S301 is obtained from the docking trajectory planned by the vehicle. In other words, when planning the docking locus of the vehicle, the specific position at which the vehicle will dock is planned.

In this embodiment, when executing S302 to determine whether the vehicle has arrived at the predetermined docking point, the following options can be implemented. That is, the position of the geometric center of the vehicle is obtained, and when it is determined that the position of the geometric center of the vehicle has reached the position of the predetermined docking point, the vehicle has arrived at the predetermined docking point. I judge.

FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure; FIG. 4 shows a schematic diagram of a vehicle approaching the platform and docking. Here, the second connecting device arranged on the platform is a guide rail, the first connecting device arranged on the vehicle includes a first connecting rod and a second connecting rod, and the first connecting rod is connected to the guide rail. Le is the length of extension that is applied, Lf is the length of extension that the second connecting rod is connected to the guide rail, H is the length of the vehicle, and θ is the angle between the road and the orientation of the vehicle.

FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure; FIG. 5 shows a schematic diagram of connecting the first connection device in the vehicle and the second connection device in the platform. The vehicle is connected to the guide rail on the platform via a first connecting rod and a second connecting rod, and the connecting rod can horizontally move on the guide rail as the vehicle travels.

FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure; As shown in FIG. 6, the vehicle docking device 600 of the present embodiment issues a first control command in response to detecting that the vehicle is approaching the platform, and is connected to the second connection device in the home; a processing unit 602 for acquiring the extension length of the first connection device; and a second control unit 603 that issues a second control command to stop the vehicle and complete the docking when it is determined that the vehicle is there.

In this embodiment, the first connecting device is a length-changeable connecting rod, such as a collapsible or extendable connecting rod, placed on the upper part of the vehicle. In this embodiment, the number of connecting rods included in the first connecting device is not limited, and may be one or plural.

Preferably, the first connecting device in this embodiment includes two connecting rods, specifically a first connecting rod located at the head of the vehicle and a second connecting rod located at the rear of the vehicle. include.

In this embodiment, the second connecting device is a guide rail that is placed above the platform and parallel to the road boundary. Therefore, the first connecting device in this embodiment can move in the horizontal direction of the second connecting device after being connected to the second connecting device.

The first control command issued by the first control unit 601 is connected to the second connection device after the first connection device is extended, and the first connection device connected to the second connection device is movable, i.e. , to control the first connection device so that it can move on the second connection device as the vehicle travels.

The first control unit 601 may issue the first control command after detecting that the vehicle has completed planning the docking path. For example, the first control command is issued after detecting that the vehicle has switched to a lane closer to the home by selecting a branch road or changing lanes and has decelerated.

On the other hand, normally, there is still a long distance between the vehicle and the platform after the vehicle completes the docking route planning. It can affect vehicles and pedestrians and cause traffic accidents.

In order to improve the accuracy when the first connection device is connected to the second connection device and to ensure the safety of vehicle travel, the first control unit 601 detects that the vehicle has approached the platform. When issuing the first control command in response to , the following optional implementation schemes can be adopted. That is, the distance between the vehicle and the platform is acquired, and the first control command is issued when it is determined that the acquired distance is less than the predetermined distance threshold.

It should be understood that the first control command issued by the first control unit 601 is the first control command with a preset decompression step width from when it is determined that the second connection device is connected until decompression is stopped. It may be a command for controlling to continue to extend the connecting device, that is, a command for controlling to connect with the second connecting device by extending a plurality of times. The first control command issued by the first control unit 601 is a command to extend the first connection device according to the distance between the vehicle and the first connection device. It may be a command to control to be connected by extension of the times.

In this embodiment, after the first control command is issued by the first control unit 601, the processing unit 602 acquires the extension length of the first connection device.

In the process of approaching the platform and docking the vehicle, the attitude of the vehicle is constantly adjusted, and the extension length of the first connection device connected to the second connection device is also constantly changed. Therefore, by acquiring the extension length of the first connection device, the processing unit 602 can improve the acquisition accuracy of the extension length, and further improve the efficiency when the vehicle is accurately docked. .

When one connecting rod is included in the first connecting device in this embodiment, the processing unit 602 acquires only the extension length of one connecting rod. When a plurality of connecting rods are included in the first connecting device in this embodiment, the processing unit 602 acquires the extension length of each connecting rod, for example, the extension length of the first connecting rod and the extension length of the second connecting rod. Get the decompression length and respectively.

After acquiring the extension length of the first connecting device, the processing unit 602 determines the orientation of the road and the vehicle based on the extension length of the first connecting rod and the extension length of the second connecting rod in the first connection device. and adjusting the attitude of the vehicle according to the angle until the determined angle is a predetermined angle.

That is, the processing unit 602 further adjusts the attitude of the vehicle using the extension length of the first connection device as auxiliary information, so that the vehicle turns parallel to the road as soon as possible and travels in a straight line. It is also possible to increase the speed at which accurate docking is performed.

The predetermined angle in processing unit 602 may be 0°, ie stop adjusting after the vehicle orientation is determined to be parallel to the road based on the angle. It should be understood that the predetermined angle in processing portion 602 may be other values, and the present disclosure is not so limited.

In this embodiment, after the extension length of the first connection device is acquired by the processing unit 602, when the second control unit 603 determines that the extension length satisfies a predetermined condition, the second control command to control the vehicle to stop and complete docking.

When the second control unit 603 determines whether or not the extension length of the first connection device satisfies the predetermined condition, specifically, the extension length of the first connection device is equal to the predetermined docking distance. Determine whether or not

Specifically, when it is determined that the extension length acquired by the second control unit 603 satisfies a predetermined condition when the first connection device in the present embodiment includes one connecting rod, the extension length is determined to satisfy the predetermined condition. It is determined whether or not the extension length of one connecting rod is equal to a predetermined docking distance, and if it is determined that the extension length of the one connecting rod is equal to the predetermined docking distance, a second control command is issued. You can issue it.

A plurality of connecting rods are included in the first connecting device in this embodiment, for example, when two connecting rods are included, the extension length acquired by the second control unit 603 satisfies a predetermined condition. When determining that the extension length of the two connecting rods is equal to the predetermined docking distance, it is determined that the extension length of the two connecting rods is equal to the predetermined docking distance. The second control command may be issued when the

The second control unit 603 locks the first connection device in addition to the command to control the stop of the vehicle in the second control command issued when it is determined that the extension length satisfies the predetermined condition. Can contain directives. As a result, the first connection device connected to the second connection device is prevented from expanding and contracting as the vehicle travels, and the orientation angle of the vehicle is restricted to be maintained constant.

The second control unit 603 acquires the position of the predetermined docking point when issuing the second control command when it is determined that the extension length satisfies the predetermined requirement, and the vehicle moves to the position of the predetermined docking point. A method of issuing a second control command when it is determined that the extension length has arrived and that the extension length satisfies a predetermined condition may be adopted.

That is, the second control unit 603 determines whether the vehicle has arrived at the predetermined docking point in addition to determining whether the extension length satisfies the predetermined requirements. It can be docked at the position of the vehicle, further improving the docking accuracy of the vehicle.

The predetermined docking point acquired by the second control unit 603 is acquired from the docking trajectory planned by the vehicle. In other words, when planning the docking locus of the vehicle, the specific position at which the vehicle will dock is planned.

When the second control unit 603 determines whether the vehicle has arrived at the predetermined docking point, the following options can be implemented. That is, the position of the geometric center of the vehicle is obtained, and when it is determined that the position of the geometric center of the vehicle has reached the position of the predetermined docking point, the vehicle has arrived at the predetermined docking point. I judge.

Further, the vehicle docking device 600 according to the present embodiment issues a third control command to disconnect the first connection device from the second connection device after detecting that the vehicle is about to leave the platform. A third control unit 604 that performs control to recover the first connection device, and issues a fourth control command when it is determined that the first connection device has been recovered above the vehicle, and controls the vehicle to start and exit from the platform. further provide.

Electronic devices, readable storage media, and computer program products are also provided according to embodiments of the present disclosure.

FIG. 7 is a block diagram of an electronic device of a vehicle docking method according to an embodiment of the present disclosure; Electronic devices represent various forms of digital computers, such as laptops, desktop computers, workbenches, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices such as PDAs, cell phones, smart phones, wearable devices, and other similar computing devices. The components, their connections and relationships, and their functions shown herein are exemplary only and are not limiting of the implementation of the disclosure as described and/or required herein.

As shown in FIG. 7, device 700 can perform various suitable operations according to a computer program stored in read only memory (ROM) 702 or loaded from storage means 708 into random access memory (RAM) 703. and computing means 701 capable of executing processing. Various programs and data necessary for the operation of the device 700 may be stored in the RAM 703 . The computing means 701 , ROM 702 and RAM 703 are connected via a bus 704 . An input/output (I/O) interface 705 is also connected to bus 704 .

Input means 706, e.g. keyboard, mouse, etc.; Output means 707, e.g. various types of displays, speakers, etc.; Storage means 708, e.g. magnetic disk, optical disk, etc.; Several components of device 700 including means 709 are connected to I/O interface 705 . Communication means 709 allows device 700 to exchange information/data with other devices, for example, via computer networks of the Internet and/or various telecommunication networks.

Computing means 701 may be various general-purpose and/or special-purpose processing components having processing power and computing power. Some examples of computing means 701 are a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal including, but not limited to, processors (DSPs), and any suitable processors, controllers, microcontrollers, and the like. Computing means 701 implements the various methods and processes described above, such as the vehicle docking method. For example, in some embodiments the vehicle docking method may be implemented as a computer software program physically embodied in a machine-readable medium, such as storage means 708 .

In some embodiments, part or all of the computer program can be loaded and/or installed on device 700 via ROM 702 and/or communication means 709 . A computer program, when loaded into RAM 703 and executed by computing means 701, is capable of performing one or more steps of the vehicle docking method described above. Alternatively, in other embodiments, the computing means 701 may be configured in any other suitable manner (eg, via firmware) to perform the vehicle docking method.

Various embodiments of the systems and techniques described herein above include digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), dedicated integrated circuits (ASICs), dedicated standard products (ASSPs), system-on-chip system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs. The one or more computer programs can be executed and/or interpreted on a programmable system including at least one programmable processor. The programmable processor is a special purpose or general purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and outputs data and instructions from the storage system, the at least one input device, and Data and instructions can be transferred to the at least one output device.

Program code to implement the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be specified in flowchart and/or block diagram form by providing them to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, when the program code is executed by the processor or controller. can be configured to perform the specified function/operation. The program code may be run entirely on a machine, partly on a machine, partly on a machine as a stand-alone package and partly on a remote machine. or all may be run on a remote machine or server.

In the context of this disclosure, a machine-readable medium is a tangible medium that contains or stores a program for use by or in conjunction with an instruction execution system, apparatus or device. can be done. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination thereof. More specific examples of machine-readable storage media are electrical connections based on one or more lines, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory. (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination thereof.

To provide interaction with a user, the systems and techniques described herein include a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; It may be implemented on a computer with a keyboard and pointing device (eg, a mouse or trackball) that provides input by a user to the computer. Other types of devices can also be used to provide interaction with the user. For example, the feedback provided to the user may be any form of sensing feedback (e.g., visual, auditory, or tactile feedback), and any form of input from the user (voice, audio, or (including haptic input).

The systems and techniques described herein may be computing systems that include back-end components (eg, data servers), or computing systems that include middleware components (eg, application servers), or front-end configurations. A computing system that includes elements (e.g., a client computer having a graphical user interface or web browser through which a user interacts with embodiments of the systems and techniques described herein). can), can be implemented in a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include local area networks (“LAN”), wide area networks (“WAN”), and internetworks.

The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on corresponding computers and having a client-server relationship to each other. Servers are also called cloud servers, cloud computing servers, or cloud hosts, which are difficult to manage and weak in business scalability in traditional physical hosts and VPS services (abbreviated as "Virtual Private Server", or "VPS"). It may be one of the host products of the cloud computing service system that solves the drawback. The server may be a distributed system server or a blockchain combined server.

It should be appreciated that steps may be rearranged, added, or deleted using the various forms of flow presented above. For example, each step described in this disclosure may be performed in parallel order or sequential order, or may be performed in a different order, and the desired result of the technical solution disclosed in this disclosure is There is no limit here as long as it can be achieved.

The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, subcombinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement or improvement made within the spirit and principle of the present disclosure shall fall within the protection scope of the present disclosure.

Claims (17)

In response to detecting that the vehicle is approaching the platform, issuing a first control command to control to connect the first connection device in the vehicle to the second connection device in the platform. ,
obtaining an extension length of the first connecting device;
issuing a second control command to stop the vehicle and complete docking when it is determined that the extension length satisfies a predetermined condition;
Vehicle docking method. The first connection device is a connecting rod that is arranged on the upper part of the vehicle and whose length can be changed,
The second connecting device is a guide rail that is placed above the platform and parallel to the road boundary.
2. The method of docking a vehicle according to claim 1. The first connecting device includes a first connecting rod located at the head of the vehicle and a second connecting rod located at the rear of the vehicle,
3. The vehicle docking method of claim 2. Issuing the first control command in response to detecting that the vehicle is approaching the home
obtaining the distance between the vehicle and the platform;
issuing the first control command when the distance is determined to be less than a predetermined distance threshold;
2. The vehicle docking method of claim 1, comprising: After obtaining the extension length of the first connection device,
determining an angle between the road and the orientation of the vehicle based on the extended length of the first connecting rod and the extended length of the second connecting rod in the first connecting device;
adjusting the attitude of the vehicle according to the angle until the angle reaches a predetermined angle;
4. The vehicle docking method of claim 3, further comprising: Issuing a second control command when it is determined that the extension length satisfies a predetermined condition includes:
Get the position of the given docking point,
issuing a second control command when it is determined that the vehicle has arrived at the predetermined docking point and the extension length satisfies a predetermined condition;
2. The vehicle docking method of claim 1, comprising: In response to detecting that the vehicle is about to leave the platform, a third control command is issued to disconnect the first connection device from the second connection device and collect it above the vehicle. control to
When it is determined that the first connection device has been collected above the vehicle, a fourth control command is issued to control the vehicle to start and exit from the platform.
2. The vehicle docking method of claim 1, further comprising: In response to detecting that the vehicle is approaching the platform, a first control command is issued to control the first connection device in the vehicle to connect to the second connection device in the platform. a control unit;
a processing unit that acquires the extension length of the first connection device;
a second control unit that issues a second control command to stop the vehicle and complete docking when it is determined that the extension length satisfies a predetermined condition;
Vehicle docking device. The first connection device is a connecting rod that is arranged on the upper part of the vehicle and whose length can be changed,
The second connecting device is a guide rail that is placed above the platform and parallel to the road boundary.
9. The vehicle docking device of claim 8. The first connecting device includes a first connecting rod located at the head of the vehicle and a second connecting rod located at the rear of the vehicle,
10. The vehicle docking device of claim 9. When the first control unit issues the first control command in response to detecting that the vehicle approaches the platform,
obtaining the distance between the vehicle and the platform;
issuing the first control command when the distance is determined to be less than a predetermined distance threshold;
9. The vehicle docking device of claim 8. The processing unit further
After obtaining the extension length of the first connection device,
determining an angle between the road and the orientation of the vehicle based on the extended length of the first connecting rod and the extended length of the second connecting rod in the first connecting device;
adjusting the attitude of the vehicle according to the angle until the angle reaches a predetermined angle;
11. The vehicle docking device of claim 10. When the second control unit determines that the extension length satisfies a predetermined condition, when issuing a second control command,
Get the position of the given docking point,
issuing a second control command when it is determined that the vehicle has arrived at the predetermined docking point and the extension length satisfies a predetermined condition;
9. The vehicle docking device of claim 8. In response to detecting that the vehicle is about to leave the platform, a third control command is issued to disconnect the first connection device from the second connection device and collect it above the vehicle. control to
a third control unit that issues a fourth control command when it is determined that the first connection device has been collected above the vehicle, and controls the vehicle to start and exit from the platform; prepare
9. The vehicle docking device of claim 8. at least one processor;
a memory communicatively coupled to the at least one processor;
A command executable by the at least one processor is stored in the memory, and when the command is executed by the at least one processor, the command according to any one of claims 1 to 7 is executed by the at least one processor. An electronic device for performing the described vehicle docking method. A non-transitory computer readable storage medium storing computer commands for causing a computer to perform the vehicle docking method of any one of claims 1-7. A computer program that, when executed by a processor, implements the vehicle docking method of any one of claims 1-7.

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