WO2021093410A1 - Vehicle control method and device, and computer readable storage medium - Google Patents

Abstract

A vehicle control method and control device, and a computer readable storage medium, comprising: when detecting that a vehicle arrives at a navigation destination point, obtaining a ground image on the basis of a photographing device mounted on the vehicle body of the vehicle, obtaining a straight line equation of a ground identification line according to the ground image, and denoting same as a first straight line equation; determining, according to the first straight line equation and a preset storage position port offset distance, relative position information of the current position of the vehicle and a storage position destination point; and calculating, on the basis of the relative position information, traveling data corresponding to the vehicle arriving at the storage position destination point, and controlling, according to the traveling data, the vehicle to travel to the storage position destination point. Thus, the problem that a vehicle is unable to park accurately due to poor positioning accuracy of a destination point in existing SLAM positioning is solved.

Description

车辆的控制方法、装置及计算机可读存储介质Vehicle control method, device and computer readable storage medium

本申请要求于2019年11月12日提交中国专利局、申请号为201911103400.4、发明名称为“车辆的控制方法、装置及计算机可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201911103400.4, and the invention title is "Vehicle control method, device and computer readable storage medium" on November 12, 2019, the entire content of which is incorporated by reference Incorporate in the application.

技术领域Technical field

本申请涉及智能导航技术领域，尤其涉及一种车辆的控制方法、装置及计算机可读存储介质。This application relates to the field of intelligent navigation technology, and in particular to a vehicle control method, device, and computer-readable storage medium.

背景技术Background technique

基于自然环境的SLAM（Simultaneous Localization and Mapping，即时定位与地图构建）包括两大功能：定位与建图。其中，建图的主要作用是对周边环境的理解，建立周边环境与空间的对应关系；定位的主要作用是根据建好的图，判断车体在地图中的位置，从而得到环境中的信息。其次，激光雷达是一种主动式探测传感器，不依赖于外界光照条件，且具备高精度的测距信息。因此，基于激光雷达的SLAM方法依旧是机器人SLAM方法中应用最为广泛的方法，并且在ROS（Robot Operating System，机器人软件平台）的SLAM应用也已非常广泛。SLAM (Simultaneous Localization and Mapping, real-time positioning and map construction) includes two major functions: positioning and mapping. Among them, the main function of mapping is to understand the surrounding environment and establish the corresponding relationship between the surrounding environment and space; the main function of positioning is to judge the position of the car body on the map based on the built map, so as to obtain the information in the environment. Secondly, lidar is an active detection sensor that does not depend on external light conditions and has high-precision ranging information. Therefore, the SLAM method based on lidar is still the most widely used method in the robot SLAM method, and in ROS (Robot Operating System, robot software platform) SLAM applications have also been very extensive.

在现有的SLAM导航应用中，通过激光雷达的方式进行导航目的点的定位，其精度取决于激光雷达的线性度。但是，由于激光雷达在很大的空间范围内很难保持良好的线性度，容易造成SLAM叉车到达目的点之后的定位偏差，即目的点定位精度较差，从而导致叉车无法准确停靠库位目的点，进而导致下一步叉车需调整姿态而浪费时间。In the existing SLAM navigation application, the positioning of the navigation target point is carried out by means of lidar, and its accuracy depends on the linearity of the lidar. However, because it is difficult for lidar to maintain good linearity in a large spatial range, it is easy to cause the positioning deviation of the SLAM forklift after reaching the destination point, that is, the positioning accuracy of the destination point is poor, which causes the forklift to be unable to accurately stop at the destination point of the storage location. , Which in turn leads to a waste of time for the forklift to adjust its posture in the next step.

技术解决方案Technical solutions

本申请的主要目的在于提供一种车辆的控制方法、装置及计算机可读存储介质，旨在解决现有SLAM定位中目的点定位精度较差、导致车辆无法准确停靠的问题。The main purpose of this application is to provide a vehicle control method, device, and computer-readable storage medium, aiming to solve the problem of poor target point positioning accuracy in the existing SLAM positioning, which causes the vehicle to be unable to park accurately.

为实现上述目的，本申请提供一种车辆的控制方法，所述车辆的控制方法包括：In order to achieve the above objective, the present application provides a vehicle control method, and the vehicle control method includes:

在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程，记为第一直线方程；When it is detected that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground identification line is acquired according to the ground image, which is recorded as the first linear equation;

根据所述第一直线方程和预设库位口偏移距离，确定所述车辆的当前位姿与库位目的点之间的相对位置信息；Determine the relative position information between the current pose of the vehicle and the destination point of the storage location according to the first straight line equation and the preset storage location opening offset distance;

基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据，并根据所述行驶数据控制所述车辆行驶至所述库位目的点。The driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.

此外，为实现上述目的，本申请还提供一种车辆的控制装置，所述车辆的控制装置包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的车辆的控制程序，所述车辆的控制程序被所述处理器执行时实现如上所述的车辆的控制方法的步骤。In addition, in order to achieve the above objective, the present application also provides a vehicle control device, the vehicle control device comprising: a memory, a processor, and a control of the vehicle that is stored in the memory and can run on the processor A program, when the control program of the vehicle is executed by the processor, realizes the steps of the control method of the vehicle as described above.

此外，为实现上述目的，本申请还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有车辆的控制程序，所述车辆的控制程序被处理器执行时实现如上所述的车辆的控制方法的步骤。In addition, in order to achieve the above-mentioned object, the present application also provides a computer-readable storage medium having a vehicle control program stored on the computer-readable storage medium, and when the vehicle control program is executed by a processor, the above-mentioned The steps of the vehicle control method.

本申请提供一种车辆的控制方法、装置及计算机可读存储介质，通过在库位导航点附近预设一导航目的点，在检测到车辆到达导航目的点时，基于车体上安装的摄像装置获取地面图像，并根据地面图像获取地面标识线的直线方程，记为第一直线方程；然后，根据第一直线方程和预设库位口偏移距离，确定车辆的当前位姿与库位目的点之间的相对位置信息；进而基于相对位置信息计算得到车辆到达库位目的点所对应的行驶数据，并根据行驶数据控制车辆行驶至库位目的点。通过上述方式，可实现视觉辅助定位，以弥补激光雷达目的点定位精度较差的缺陷，可提高目的点定位的精度，使得车辆准确停靠在栈板库位前面，便于车辆下一步对栈板库位的出入库的准确操作。同时，由于库位目的点定位精度的提高，无需车辆到达库位目的点后调整姿态，从而可节省因调整姿态而浪费的时间，提高车辆的工作效率。The present application provides a vehicle control method, device, and computer-readable storage medium. By presetting a navigation destination point near the navigation point of the storage location, when the vehicle is detected to reach the navigation destination point, based on the camera device installed on the vehicle body Obtain the ground image, and obtain the straight line equation of the ground marking line according to the ground image, and record it as the first straight line equation; then, according to the first straight line equation and the preset warehouse location offset distance, determine the current pose and library of the vehicle The relative position information between the location destination points; and based on the relative location information, the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated, and the vehicle is controlled to travel to the destination destination point of the storage location according to the driving data. Through the above method, visual aided positioning can be realized to compensate for the poor positioning accuracy of the target point of the lidar, and the accuracy of the target point positioning can be improved, so that the vehicle can accurately park in front of the pallet warehouse, which is convenient for the vehicle to check the pallet warehouse in the next step. Accurate operation of the entry and exit of the warehouse. At the same time, due to the improvement of the positioning accuracy of the destination point of the storage location, there is no need for the vehicle to adjust the posture after reaching the destination point of the storage location, thereby saving time wasted by adjusting the posture and improving the work efficiency of the vehicle.

附图说明Description of the drawings

图1为本申请实施例方案涉及的硬件运行环境的车辆的控制装置结构示意图；FIG. 1 is a schematic diagram of a structure of a vehicle control device in a hardware operating environment involved in a solution of an embodiment of the application;

图2为本申请车辆的控制方法第一实施例的流程示意图；2 is a schematic flowchart of the first embodiment of the vehicle control method of this application;

图3为本申请车辆的控制方法涉及的一应用场景示意图；FIG. 3 is a schematic diagram of an application scenario involved in the vehicle control method of this application;

图4为本申请车辆的控制方法涉及的行驶数据计算过程中所涉及参数的一示意图；4 is a schematic diagram of the parameters involved in the calculation process of the driving data involved in the control method of the vehicle of this application;

图5为本申请车辆的控制方法第二实施例的流程示意图；FIG. 5 is a schematic flowchart of a second embodiment of a vehicle control method according to this application;

图6为本申请车辆的控制方法第六实施例的流程示意图；6 is a schematic flowchart of a sixth embodiment of a vehicle control method according to this application;

图7为本申请车辆的控制方法涉及的AGV旋转前后的一姿态示意图。FIG. 7 is a schematic diagram of a posture before and after the rotation of the AGV involved in the control method of the vehicle of this application.

本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

本发明的实施方式Embodiments of the present invention

应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

参照图1，图1为本申请实施例方案涉及的硬件运行环境的车辆的控制装置结构示意图。Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a vehicle control device in a hardware operating environment involved in a solution of an embodiment of the application.

如图1所示，该车辆的控制装置可以包括：处理器1001，例如CPU（Central Processing Unit，中央处理器），通信总线1002，用户接口1003，网络接口1004，存储器1005。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括显示屏（Display）、输入单元比如键盘（Keyboard），可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口（如无线保真Wireless-Fidelity，Wi-Fi接口）。存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile memory），例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。As shown in Figure 1, the vehicle control device may include: a processor 1001, such as a CPU (Central Processing Unit, central processing unit), communication bus 1002, user interface 1003, network interface 1004, and memory 1005. Among them, the communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as Wireless-Fidelity, Wi-Fi interface). The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as disk storage. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

本领域技术人员可以理解，图1中示出的车辆的控制装置结构并不构成对车辆的控制装置的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。Those skilled in the art can understand that the structure of the control device of the vehicle shown in FIG. 1 does not constitute a limitation on the control device of the vehicle, and may include more or less components than those shown in the figure, or combine certain components, or different components. The layout of the components.

如图1所示，作为一种计算机存储介质的存储器1005中可以包括操作***、网络通信模块、用户接口模块以及车辆的控制程序。As shown in FIG. 1, the memory 1005, which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle control program.

在图1所示的车辆的控制装置中，网络接口1004主要用于连接后台服务器，与后台服务器进行数据通信；用户接口1003主要用于连接客户端，与客户端进行数据通信；而处理器1001可以用于调用存储器1005中存储的车辆的控制程序。In the vehicle control device shown in FIG. 1, the network interface 1004 is mainly used to connect to a background server and perform data communication with the background server; the user interface 1003 is mainly used to connect to a client and perform data communication with the client; and the processor 1001 It can be used to call the control program of the vehicle stored in the memory 1005.

在本实施例中，车辆的控制装置包括：存储器1005、处理器1001及存储在所述存储器1005上并可在所述处理器1001上运行的车辆的控制程序，其中，处理器1001调用存储器1005中存储的车辆的控制程序时，并执行本申请实施例提供的车辆的控制方法。In this embodiment, the vehicle control device includes a memory 1005, a processor 1001, and a vehicle control program that is stored on the memory 1005 and can run on the processor 1001, wherein the processor 1001 calls the memory 1005 When the vehicle control program is stored in the storage device, the vehicle control method provided in the embodiment of the present application is executed.

基于上述硬件结构，提出本申请车辆的控制方法各个实施例。Based on the above hardware structure, various embodiments of the vehicle control method of the present application are proposed.

本申请提供一种车辆的控制方法。This application provides a vehicle control method.

参照图2，图2为本申请车辆的控制方法第一实施例的流程示意图。Referring to Fig. 2, Fig. 2 is a schematic flowchart of a first embodiment of a vehicle control method according to this application.

在本实施例中，该车辆的控制方法包括：In this embodiment, the vehicle control method includes:

步骤S10，在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程，记为第一直线方程；Step S10, when it is detected that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground marking line is acquired according to the ground image, which is recorded as the first linear equation ；

在本实施例中，在上述步骤S10之前，该车辆的控制方法还包括：In this embodiment, before the above step S10, the vehicle control method further includes:

步骤A，获取所述库位目的点在预设即时定位与地图构建SLAM地图中的坐标，根据所述库位目的点的坐标确定与所述库位目的点对应的导航目的点的坐标；Step A: Obtain the coordinates of the destination point of the storage location in the preset real-time positioning and map construction SLAM map, and determine the coordinates of the navigation destination point corresponding to the destination point of the storage location according to the coordinates of the destination point of the storage location;

步骤B，基于所述导航目的点的坐标和所述预设SLAM地图，控制所述车辆行驶至所述导航目的点。Step B: Based on the coordinates of the navigation destination point and the preset SLAM map, control the vehicle to travel to the navigation destination point.

在本实施例中，该车辆的控制方法可应用于仓储场景中，通过AGV（Automated Guided Vehicle，自动导引运输车）小车来搬运货物。AGV小车可以为具有安全保护以及各种移载功能的运输车，如SLAM（Simultaneous Localization and Mapping，即时定位与地图构建）叉车，下述实施例中以叉车为例进行说明。如图3所示，该图3为地堆式仓库的应用场景示意图，其中，1.1-1.3，表示SLAM叉车终端；2.1，表示栈板货物；2.2，表示地堆仓位的标识线（其中，仓库中的地面标识线其实质为粘贴在地面上的胶带，通常由两种颜色相互间隔形成的菱形块图案组成，如黑色菱形块搭配黄色菱形块，黑色菱形块搭配白色菱形块等，可便于人工和机器作业按位置摆放栈板）；2.3，表示仓库墙壁；2.4，表示仓库过道；3，表示库位目的点；4，表示从库位目的点直接入库的线路。In this embodiment, the vehicle control method can be applied in a storage scenario, and goods are transported by AGV (Automated Guided Vehicle). The AGV trolley may be a transport vehicle with safety protection and various transfer functions, such as a SLAM (Simultaneous Localization and Mapping, instant positioning and map construction) forklift. In the following embodiments, a forklift is used as an example for illustration. As shown in Figure 3, this figure 3 is a schematic diagram of the application scenario of a ground-stack warehouse, where 1.1-1.3 represent the SLAM forklift terminal; 2.1, the pallet cargo; 2.2, the identification line of the ground-stack warehouse (wherein, the warehouse The ground marking line in is essentially tape pasted on the ground, usually composed of diamond-shaped blocks in two colors spaced apart, such as black diamond-shaped blocks with yellow diamond-shaped blocks, black diamond-shaped blocks with white diamond-shaped blocks, etc., which can be convenient for manual labor. (Place the pallets according to the position of the machine operation); 2.3, the warehouse wall; 2.4, the warehouse aisle; 3, the destination point of the storage location; 4, the line of direct entry from the destination point of the storage location.

由于激光雷达在很大的空间范围内很难保持良好的线性度，激光雷达的SLAM定位本身误差只能做到+/-20cm大致范围内，在仓储和生产线的AGV对接应用中，通常叉车在目的点位置，都需要5cm以内的定位精度，有些地方甚至需要2cm以内，仅仅靠激光雷达探测的自然环境边缘进行定位是不能满足场景需求的。因此，本实施例中通过视觉辅助定位的方式，实现快速的高精度目的点定位功能。先将SLAM导航的目的点（即导航目的点）设置在库位目的点（如图3中的A点）的旁边（例如图3中的B点），当导航到达B目的点之后（实际上是一个半径20cm的圆圈范围），再通过识别地面标识线，准确的移动到A点（实际上是一个半径5cm的圆圈范围），以达到准确到达库位目的点。Since it is difficult for lidar to maintain good linearity in a large space, the error of the SLAM positioning of lidar can only be within the approximate range of +/-20cm. In the application of AGV docking in storage and production lines, forklifts usually The location of the destination point needs a positioning accuracy within 5cm, and in some places it even needs to be within 2cm. Only relying on the edge of the natural environment detected by the lidar for positioning cannot meet the needs of the scene. Therefore, in this embodiment, a fast and high-precision target point positioning function is realized by means of visual assisted positioning. First set the destination point of the SLAM navigation (ie the navigation destination point) next to the destination point of the location (point A in Figure 3) (such as point B in Figure 3), when the navigation reaches the destination point B (actually It is a circle with a radius of 20cm), and then accurately moves to point A (actually a circle with a radius of 5cm) by identifying the ground marking line to reach the destination point of the storage location accurately.

具体的，先获取库位目的点在预设SLAM地图中的坐标，根据库位目的点的坐标确定与库位目的点对应的导航目的点的坐标，例如针对图3的应用场景，当库位目的点A的坐标为（a，b），可设定导航目的点的坐标为（a+20，b+20）；然后，基于导航目的点的坐标和预设SLAM地图，控制车辆行驶至导航目的点。Specifically, first obtain the coordinates of the destination point of the storage location in the preset SLAM map, and determine the coordinates of the navigation destination point corresponding to the destination point of the storage location according to the coordinates of the destination point of the storage location. The coordinates of the destination point A are (a, b), and the coordinates of the navigation destination point can be set as (a+20, b+20); then, based on the coordinates of the navigation destination point and the preset SLAM map, control the vehicle to navigate Point of purpose.

在检测到车辆到达导航目的点（即在距离导航目的点预设范围内）时，基于车辆的车体上安装的摄像装置获取地面图像，并根据地面图像获取地面标识线的直线方程，记为第一直线方程。如图4所示，车辆到达导航目的点时，其当前实际位置为图4中的B点，库位目的点为图4中的A点，可根据车辆的车体上安装的摄像装置获取地面图像，进而获取地面标识线对应的直线方程1（如图4中的l1）和直线方程2（如图4中的l2）。其中，该地面标识线的直线方程是以车辆的当前位姿为坐标原点、以车辆的叉臂指向的反方向为y轴正方向、以y轴右侧方向为x轴正方向、构建所得的二维直角坐标系计算得到的。When it is detected that the vehicle reaches the navigation destination point (that is, within the preset range from the navigation destination point), the ground image is acquired based on the camera device installed on the vehicle body, and the linear equation of the ground marking line is acquired according to the ground image, which is recorded as The first linear equation. As shown in Figure 4, when the vehicle reaches the navigation destination, its current actual position is point B in Figure 4, and the destination point of the storage location is point A in Figure 4. The ground can be obtained according to the camera device installed on the vehicle body Image, and then obtain the linear equation 1 (l1 in Figure 4) and the linear equation 2 (l2 in Figure 4) corresponding to the ground marking line. Among them, the straight line equation of the ground marking line is constructed by taking the current pose of the vehicle as the origin of coordinates, the opposite direction of the fork arm of the vehicle as the positive direction of the y-axis, and the right direction of the y-axis as the positive direction of the x-axis. Calculated in a two-dimensional rectangular coordinate system.

步骤S20，根据所述第一直线方程和预设库位口偏移距离，确定所述车辆的当前位姿与库位目的点之间的相对位置信息；Step S20: Determine the relative position information between the current pose of the vehicle and the destination point of the storage location according to the first straight line equation and the preset storage location opening offset distance;

然后，根据第一直线方程和预设库位口偏移距离，确定车辆的当前位姿与库位目的点之间的相对位置信息。其中，相对位置信息包括库位目的点的第一坐标，预设库位口偏移距离包括预先设定的库位目的点与库位之间的距离（如图4中的L ₁）和预先设定的库位目的点与地面标识线之间的距离（如图4中的L ₂），相对位置信息的获取过程为：先以车辆的当前位置为坐标原点，以车辆的叉臂指向的反方向为y轴正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系；然后，基于第一直线方程，计算地面标识线之间的交叉点在二维直角坐标系中的交叉点坐标，并计算车辆的姿态角度；进而根据交叉点坐标、车辆的姿态角度、预设库位口偏移距离，确定库位目的点在二维直角坐标系中的坐标，记为库位目的点的第一坐标。具体的执行过程可参照下述第二实施例，此处不作赘述。 Then, the relative position information between the current pose of the vehicle and the destination point of the storage location is determined according to the first straight line equation and the preset offset distance of the storage location. Among them, the relative position information includes the first coordinates of the destination point of the storage location, and the preset offset distance of the storage location port includes the preset distance between the destination point of the storage location and the storage location (L _{1 in} Figure 4) and the preset distance between the destination point of the storage location and the storage location. Set the distance between the destination point of the storage location and the ground marking line (L _{2 in} Figure 4), the relative position information acquisition process is: first take the current position of the vehicle as the origin of the coordinates, and use the fork arm of the vehicle as the origin of the coordinates. The opposite direction is the positive direction of the y-axis, and the right direction of the y-axis is the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system; then, based on the first straight line equation, calculate the intersection point between the ground markings in the two-dimensional rectangular coordinate The coordinates of the intersection in the system, and calculate the attitude angle of the vehicle; then according to the coordinates of the intersection, the attitude angle of the vehicle, and the preset offset distance of the warehouse location, the coordinates of the warehouse location destination point in the two-dimensional rectangular coordinate system are determined. The first coordinate of the destination point of the location. For the specific execution process, refer to the following second embodiment, which will not be repeated here.

步骤S30，基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据，并根据所述行驶数据控制所述车辆行驶至所述库位目的点。In step S30, the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.

在确定得到车辆的当前位姿与库位目的点之间的相对位置信息之后，基于相对位置信息计算得到车辆到达库位目的点所对应的行驶数据，并根据行驶数据控制车辆行驶至库位目的点。其中，行驶数据包括第一旋转角度和移动距离，由于相对位置信息为以车辆的当前位置为坐标原点、以车辆的叉臂指向的反方向为y轴，构建得到的二维直角坐标系中，库位目的点所对应的坐标（即库位目的点的第一坐标），故在计算第一旋转角度时，只需计算库位目的点的第一坐标与坐标原点所构成直线的斜率，进而根据斜率计算得到车辆到达库位目的点所对应的第一旋转角度；在计算移动距离时，只需计算库位目的点的第一坐标与坐标原点之间的距离，即可得到车辆到达库位目的点所对应的移动距离。具体的计算过程可参照下述第三实施例。在计算得到行驶数据之后，先控制车辆以第一旋转角度进行旋转操作，得到姿态转变后的车辆，然后控制姿态转变后的车辆根据移动距离行驶至库位目的点。After determining the relative position information between the current pose of the vehicle and the destination point of the storage location, calculate the driving data corresponding to the vehicle reaching the destination point of the storage location based on the relative position information, and control the vehicle to travel to the destination point of the storage location based on the driving data point. Wherein, the driving data includes the first rotation angle and the moving distance. Since the relative position information is based on the current position of the vehicle as the origin of the coordinates and the opposite direction of the fork arm of the vehicle as the y axis, in the two-dimensional rectangular coordinate system constructed, The coordinates corresponding to the destination point of the location (that is, the first coordinate of the destination point of the location), so when calculating the first rotation angle, only the slope of the straight line formed by the first coordinate of the destination point of the location and the origin of the coordinates needs to be calculated, and then According to the slope, the first rotation angle corresponding to the vehicle reaching the destination point of the storage location is calculated; when calculating the moving distance, only the distance between the first coordinate of the destination point of the storage location and the coordinate origin is calculated, and the vehicle can reach the storage location. The moving distance corresponding to the destination point. The specific calculation process can refer to the following third embodiment. After the driving data is calculated, the vehicle is first controlled to perform a rotation operation at the first rotation angle to obtain the vehicle after the attitude transition, and then the vehicle after the attitude transition is controlled to travel to the destination point of the storage location according to the moving distance.

本申请实施例提供一种车辆的控制方法，通过在库位导航点附近预设一导航目的点，在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据地面图像获取地面标识线的直线方程，记为第一直线方程；然后，根据第一直线方程和预设库位口偏移距离，确定车辆的当前位姿与库位目的点之间的相对位置信息；进而基于相对位置信息计算得到车辆到达库位目的点所对应的行驶数据，并根据行驶数据控制车辆行驶至库位目的点。通过上述方式，可实现视觉辅助定位，以弥补激光雷达目的点定位精度较差的缺陷，可提高目的点定位的精度，由原来的定位精度+/-5～+/-15cm，提高到+/-3cm以内，从而使得车辆准确停靠在栈板库位前面，便于车辆下一步对栈板库位的出入库的准确操作。同时，由于库位目的点定位精度的提高，无需车辆到达库位目的点后调整姿态，从而可节省因调整姿态而浪费的时间，提高车辆的工作效率。The embodiment of the application provides a method for controlling a vehicle. By presetting a navigation destination point near the navigation point of a storage location, when it is detected that the vehicle reaches the navigation destination point, the ground is acquired based on the camera device installed on the vehicle body. Image, and obtain the straight line equation of the ground marking line according to the ground image, and record it as the first straight line equation; then, according to the first straight line equation and the preset storage location opening offset distance, determine the current pose and storage location purpose of the vehicle The relative position information between the points; and based on the relative position information, the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data. Through the above method, visual aided positioning can be achieved to compensate for the poor positioning accuracy of the target point of the lidar, and the accuracy of the target point positioning can be improved, from the original positioning accuracy of +/-5～+/-15cm to +/ -3cm, so that the vehicle will be parked accurately in front of the pallet location, which is convenient for the accurate operation of the vehicle in and out of the pallet location in the next step. At the same time, due to the improvement of the positioning accuracy of the destination point of the storage location, there is no need for the vehicle to adjust the posture after reaching the destination point of the storage location, thereby saving time wasted by adjusting the posture and improving the work efficiency of the vehicle.

进一步地，基于上述第一实施例，提出本申请车辆的控制方法的第二实施例。参照图5，在本实施例中，所述相对位置信息包括库位目的点的第一坐标，步骤S20包括：Further, based on the above-mentioned first embodiment, a second embodiment of the vehicle control method of the present application is proposed. 5, in this embodiment, the relative position information includes the first coordinates of the destination point of the storage location, and step S20 includes:

步骤S21，以所述车辆的当前位置为坐标原点，以所述车辆的叉臂指向的反方向为y轴正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系；Step S21, using the current position of the vehicle as the origin of coordinates, the opposite direction of the fork arm of the vehicle as the positive direction of the y-axis, and the right direction of the y-axis as the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system;

在本实施例中，以车辆的当前位置为坐标原点，以车辆的叉臂指向的反方向为y轴正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系。具体的，对于SLAM叉车而言，如图4所示，可以以叉车的车后轮中心为坐标原点，以叉车的叉臂指向的反方向为y轴正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系。即在该构建的二维直角坐标系中，车辆（图4中B点）的坐标为（0,0）。In this embodiment, the current position of the vehicle is taken as the origin of coordinates, the opposite direction of the fork arm of the vehicle is taken as the positive direction of the y axis, and the right direction of the y axis is taken as the positive direction of the x axis to construct a two-dimensional rectangular coordinate system. Specifically, for a SLAM forklift, as shown in Figure 4, the center of the rear wheel of the forklift can be used as the origin of coordinates, the opposite direction of the fork arm of the forklift is the positive direction of the y-axis, and the right direction of the y-axis is x Axis positive direction, construct a two-dimensional rectangular coordinate system. That is, in the constructed two-dimensional rectangular coordinate system, the coordinates of the vehicle (point B in Figure 4) are (0,0).

步骤S22，基于所述第一直线方程，计算地面标识线之间的交叉点在所述二维直角坐标系中的交叉点坐标，并计算所述车辆的姿态角度；Step S22, based on the first straight line equation, calculate the intersection coordinates of the intersection between the ground marking lines in the two-dimensional rectangular coordinate system, and calculate the posture angle of the vehicle;

然后，基于第一直线方程，计算地面标识线之间的交叉点在二维直角坐标系中的交叉点坐标，并计算车辆的姿态角度。例如图4，假设得到直线l1的直线方程为ax+by+c=0，直线l2的直线方程为dx+ey+f=0，可计算得到两地面标识线（即直线l1和直线l2）之间的交叉点P的坐标（x _P，y _P），其中，x _P=（ec-bf）/（bd-ae），y _P=（cd-ae）/（ae-bd），基于直线l1的直线方程可计算得到车辆的姿态角度θ=tan ^-1（-b/a）。 Then, based on the first straight line equation, the intersection coordinates of the intersection between the ground marking lines in the two-dimensional rectangular coordinate system are calculated, and the posture angle of the vehicle is calculated. For example, as shown in Figure 4, assuming that the linear equation of the line l1 is ax+by+c=0, and the linear equation of the line l2 is dx+ey+f=0, the two ground identification lines (ie the line l1 and the line l2) can be calculated. The coordinates of the intersection point P between (x _P , y _P ), where x _P = (ec-bf)/(bd-ae), y _P = (cd-ae)/(ae-bd), based on the straight line l1 The straight line equation can be calculated to get the attitude angle of the vehicle θ=tan ^-1 (-b/a).

步骤S23，根据所述交叉点坐标、所述车辆的姿态角度、预设库位口偏移距离，确定所述库位目的点在所述二维直角坐标系中的坐标，记为所述库位目的点的第一坐标。Step S23: Determine the coordinates of the destination point of the storage location in the two-dimensional rectangular coordinate system according to the coordinates of the intersection, the attitude angle of the vehicle, and the offset distance of the preset storage location, which is recorded as the library The first coordinate of the destination point.

在得到交叉点坐标和车辆的姿态角度之后，根据交叉点坐标、车辆的姿态角度、预设库位口偏移距离，确定库位目的点在二维直角坐标系中的坐标，记为库位目的点的第一坐标。其中，预设库位口偏移距离包括预先设定的库位目的点与库位之间的距离（如图4中的L ₁）和预先设定的库位目的点与地面标识线之间的距离（如图4中的L ₂），一般而言，L ₁一般设置为0.5倍以上的车宽（记为W ₁），优选地，可设定L ₁=0.6W ₁，L ₂是基于库位宽（记为W ₂）设置的，优选地，可设定L ₂=W ₂+0.5W ₂=1.5W ₂，当然，可以理解，在具体实施过程中，可根据实际情况预先设定库位口偏移距离。根据L ₁、L ₂和θ，可计算得到库位目的点（图4中的A点）的坐标（x _A，y _A），其中，x _A=x _Pcosθ-L ₁，y _A=y _Pcosθ-L ₂。 After obtaining the coordinates of the intersection and the attitude angle of the vehicle, according to the coordinates of the intersection, the attitude angle of the vehicle, and the preset offset distance of the location, determine the coordinates of the destination point of the location in the two-dimensional rectangular coordinate system, and record it as the location The first coordinate of the destination point. Among them, the preset location offset distance includes the preset distance between the destination point of the location and the location (L _{1 in} Figure 4) and the preset distance between the destination point of the location and the ground marking line (L _{2 in} Figure 4). Generally speaking, L _{1 is} generally set to be 0.5 times or more of the vehicle width (denoted as W ₁ ). Preferably, L ₁ =0.6W ₁ , L ₂ is It is set based on the location width (denoted as W ₂ ). Preferably, L ₂ =W ₂ +0.5W ₂ =1.5W ₂ can be set. Of course, it can be understood that in the specific implementation process, it can be preset according to the actual situation. The offset distance of the fixed location port. According to L ₁ , L _{2 and θ, the coordinates (x A} , y _A ) of the destination point (point A in Figure 4) can be calculated _{, where x A} = x _P cosθ-L ₁ , y _A = y _P cosθ-L ₂ .

通过上述方式，可计算得到车辆的当前位姿与库位目的点之间的相对位置信息，进而便于后续基于该相对位置信息获取得到车辆到达库位目的点所对应的第一旋转角度和移动距离。Through the above method, the relative position information between the current pose of the vehicle and the destination point of the storage location can be calculated, so as to facilitate the subsequent acquisition of the first rotation angle and movement distance corresponding to the vehicle's arrival at the destination point of the storage location based on the relative position information. .

进一步地，基于上述第二实施例，提出本申请车辆的控制方法的第三实施例。在本实施例中，所述行驶数据包括第一旋转角度和移动距离，步骤“基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据”包括：Further, based on the above-mentioned second embodiment, a third embodiment of the vehicle control method of the present application is proposed. In this embodiment, the driving data includes a first rotation angle and a moving distance, and the step of "calculating the driving data corresponding to the vehicle reaching the destination point of the storage location based on the relative position information" includes:

步骤a1，计算所述库位目的点的第一坐标与所述坐标原点所构成直线的斜率，根据所述斜率计算得到所述车辆到达所述库位目的点所对应的第一旋转角度；Step a1, calculating the slope of the straight line formed by the first coordinates of the destination point of the storage location and the origin of the coordinates, and calculating the first rotation angle corresponding to the vehicle reaching the destination point of the storage location according to the slope;

步骤a2，计算所述库位目的点的第一坐标与所述坐标原点之间的距离，得到所述车辆到达所述库位目的点所对应的移动距离。Step a2: Calculate the distance between the first coordinate of the destination point of the storage location and the origin of the coordinates, and obtain the movement distance corresponding to the vehicle to the destination point of the storage location.

在计算得到库位目的点的第一坐标之后，计算库位目的点的第一坐标与坐标原点所构成直线的斜率，根据斜率计算得到车辆到达库位目的点所对应的第一旋转角度。其中，库位目的点的第一坐标与坐标原点所构成直线的斜率k=y _A/x _A，第一旋转角度w=tan ^-1|1/k|= tan ^-1|x _A/y _A|。 After the first coordinate of the destination point of the storage location is calculated, the slope of the straight line formed by the first coordinate of the destination point of the storage location and the coordinate origin is calculated, and the first rotation angle corresponding to the vehicle reaching the destination point of the storage location is calculated according to the slope. Among them, the slope of the straight line formed by the first coordinate of the location destination point and the coordinate origin is k=y _A /x _A , and the first rotation angle w=tan ^-1 |1/k|= tan ^-1 |x _A /y _A |.

计算库位目的点的第一坐标与坐标原点之间的距离，得到车辆到达库位目的点所对应的移动距离。移动距离s=（x _A ²+y _A ²） ^1/2。 Calculate the distance between the first coordinate of the destination point of the storage location and the origin of the coordinates, and obtain the corresponding moving distance of the vehicle to the destination point of the storage location. The moving distance s=(x _A ² +y _A ² ) ^1/2 .

其中，步骤a1和步骤a2的执行顺序不分先后。Among them, the order of execution of step a1 and step a2 is in no particular order.

进一步地，基于上述第一实施例，提出本申请车辆的控制方法的第四实施例。在本实施例中，步骤“根据所述行驶数据控制所述车辆行驶至所述库位目的点”包括：Further, based on the above-mentioned first embodiment, a fourth embodiment of the vehicle control method of the present application is proposed. In this embodiment, the step of "controlling the vehicle to travel to the destination point of the storage location according to the driving data" includes:

步骤a3，控制所述车辆以所述行驶数据中的第一旋转角度进行旋转操作，得到姿态转变后的车辆；Step a3, controlling the vehicle to perform a rotation operation at the first rotation angle in the driving data to obtain a vehicle with a posture transition;

步骤a4，控制所述姿态转变后的车辆根据所述行驶数据中的移动距离行驶至所述库位目的点。Step a4, controlling the vehicle after the posture transition to drive to the destination point of the storage location according to the moving distance in the driving data.

在本实施例中，在获取到行驶数据之后，其中，行驶数据包括第一旋转角度和移动距离，可先控制车辆以行驶数据中的第一旋转角度进行旋转操作，得到姿态转变后的车辆，然后控制姿态转变后的车辆根据行驶数据中的移动距离行驶至库位目的点。In this embodiment, after the driving data is acquired, where the driving data includes a first rotation angle and a moving distance, the vehicle can be controlled to perform a rotation operation at the first rotation angle in the driving data to obtain a vehicle with a posture transition. Then, the vehicle after the control attitude transition is driven to the destination point of the storage location according to the moving distance in the driving data.

进一步地，为实现对车辆的高精度控制，在旋转和移动过程中，可基于PID（proportion-integral-differential，比例-积分-微分）闭环控制***来控制车辆的旋转和移动。具体的，步骤a3包括：Further, in order to achieve high-precision control of the vehicle, during the rotation and movement process, the rotation and movement of the vehicle can be controlled based on a PID (proportion-integral-differential, proportional-integral-differential) closed-loop control system. Specifically, step a3 includes:

步骤a31，在旋转过程中，实时获取地面标识线的直线方程，记为第二直线方程；Step a31, during the rotation process, obtain the straight line equation of the ground marking line in real time, and record it as the second straight line equation;

步骤a32，根据所述第二直线方程对应的斜率和比例-积分-导数PID算法实时计算PID旋转控制量，并根据所述PID旋转控制量控制所述车辆进行旋转操作，直至达到所述行驶数据中的第一旋转角度；Step a32: Calculate the PID rotation control amount in real time according to the slope corresponding to the second linear equation and the proportional-integral-derivative PID algorithm, and control the vehicle to perform a rotation operation according to the PID rotation control amount until the driving data is reached The first angle of rotation in;

在本实施例中，在旋转过程中，实时获取地面标识线的直线方程，记为第二直线方程，其中，第二直线方程的获取方式与第一直线方程的获取方式相一致，可参照上述实施例，此处不作赘述。第二直线方程即为图4中的直线l1在旋转过程中实时对应的直线方程。然后，根据第二直线方程对应的斜率和比例-积分-导数PID算法实时计算PID旋转控制量，并根据PID旋转控制量控制车辆进行旋转操作，直至达到行驶数据中的第一旋转角度。其中，PID算法是一种闭环控制算法，闭环控制是根据控制对象输出反馈来进行校正的控制方式，它是在测量出实际与计划发生偏差时，按定额或标准来进行纠正的。PID是比例(Proportion)、积分(Integral)、微分(Differential)的缩写，分别代表了三种控制算法。通过这三个算法的组合可有效地纠正被控制对象的偏差，从而使其达到一个稳定的状态。In this embodiment, during the rotation process, the straight line equation of the ground marking line is obtained in real time, which is recorded as the second straight line equation. The method of obtaining the second straight line equation is consistent with that of the first straight line equation. You can refer to The above-mentioned embodiments will not be repeated here. The second straight line equation is the straight line equation corresponding to the straight line l1 in FIG. 4 in real time during the rotation process. Then, according to the slope corresponding to the second straight line equation and the proportional-integral-derivative PID algorithm, the PID rotation control amount is calculated in real time, and the vehicle is controlled to rotate according to the PID rotation control amount until the first rotation angle in the driving data is reached. Among them, PID algorithm is a closed-loop control algorithm. Closed-loop control is a control method that corrects according to the output feedback of the control object. It corrects according to the quota or standard when the deviation between the actual and the plan is measured. PID is the abbreviation of Proportion, Integral, and Differential, which respectively represent three control algorithms. The combination of these three algorithms can effectively correct the deviation of the controlled object so that it can reach a stable state.

对应的，步骤a4包括：Correspondingly, step a4 includes:

步骤a41，在移动过程中，获取地面标识线的交叉点与所述姿态转变后的车辆之间的实时距离；Step a41, in the process of moving, obtain the real-time distance between the intersection of the ground marking line and the vehicle after the posture transition;

步骤a42，根据所述实时距离和所述PID算法实时计算PID移动控制量，并根据所述PID移动控制量控制所述姿态转变后的车辆进行移动，直至达到所述行驶数据中的移动距离、行驶至所述库位目的点。Step a42: Calculate the PID movement control amount in real time according to the real-time distance and the PID algorithm, and control the vehicle after the attitude transition to move according to the PID movement control amount until the movement distance in the driving data is reached, Drive to the destination point of the storage location.

对应的，在移动过程中，也可以基于PID算法进行控制。具体的，在移动过程中，获取地面标识线的交叉点与姿态转变后的车辆之间的实时距离；其中，地面标识线的交叉点的获取方法可参照上述第二实施例。在获取到该实时距离之后，根据实时距离和PID算法实时计算PID移动控制量，并根据PID移动控制量控制姿态转变后的车辆进行移动，直至达到行驶数据中的移动距离、行驶至库位目的点。Correspondingly, during the movement, it can also be controlled based on the PID algorithm. Specifically, during the movement, the real-time distance between the intersection of the ground marking line and the vehicle after the posture transition is obtained; wherein, the method for obtaining the intersection of the ground marking line can refer to the second embodiment described above. After obtaining the real-time distance, calculate the PID movement control amount in real time according to the real-time distance and PID algorithm, and control the movement of the vehicle after the attitude transition according to the PID movement control amount, until the movement distance in the driving data is reached and the purpose of driving to the storage location is reached. point.

通过上述方式，采用PID算法来实时计算PID旋转控制量和PID移动控制量，可以实现车辆（如叉车）在环境不够理想、影响因素不完全确定等复杂条件下的实时高精度控制，尤其适合在狭小作业空间以及需要频繁转向和精确定位的环境内，完成旋转和移动等操作，可进一步控制车辆更准确地停靠在库位目的点坐标上。Through the above method, the PID algorithm is used to calculate the PID rotation control quantity and the PID movement control quantity in real time, which can realize the real-time high-precision control of vehicles (such as forklifts) under complex conditions such as unsatisfactory environment and incomplete influencing factors. In a small working space and an environment that requires frequent steering and precise positioning, the completion of operations such as rotation and movement can further control the vehicle to park on the coordinates of the destination point of the storage location more accurately.

进一步地，基于上述第一实施例，提出本申请车辆的控制方法的第五实施例。在本实施例中，步骤“基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程”包括：Further, based on the above-mentioned first embodiment, a fifth embodiment of the vehicle control method of the present application is proposed. In this embodiment, the step of "acquiring a ground image based on the camera device installed on the body of the vehicle, and obtaining a straight line equation of the ground identification line according to the ground image" includes:

步骤b1，基于所述车辆的车体上安装的摄像装置获取地面图像，并识别所述地面图像中与地面标识线对应的各目标元素的质心位置；Step b1, acquiring a ground image based on the camera device installed on the body of the vehicle, and identifying the centroid position of each target element corresponding to the ground marking line in the ground image;

步骤b2，根据所述各目标元素的质心位置，确定各目标元素对应的目标数据坐标，并根据所述目标数据坐标生成地面标识线的直线方程。Step b2: Determine the target data coordinates corresponding to each target element according to the centroid position of each target element, and generate a straight line equation of the ground marking line according to the target data coordinates.

在本实施例中，地面标识线的直线方程的获取过程如下：In this embodiment, the process of obtaining the straight line equation of the ground marking line is as follows:

先基于车辆的车体上安装的摄像装置获取地面图像，并识别地面图像中与地面目标线对应的各目标元素的质心位置。具体的，先从地面图像中提取出各目标元素（可以选取黑色菱块作为地面图像中的目标元素）；然后获取各目标元素的初始轮廓，进而调用OpenCV（开源计算机视觉库）中用于计算质心位置的预设函数，将各目标元素的初始轮廓传输到该预设函数中，经过该预设函数的处理，输出坐标值，该坐标值即为各目标元素的在地面图像中的质心坐标。调用预先设定的半径数值，以质心坐标作为为圆心设定与各个目标元素对应的圆形区域，该圆形区域即为目标元素在地面图像中的质心位置。First, the ground image is acquired based on the camera device installed on the body of the vehicle, and the centroid position of each target element corresponding to the ground target line in the ground image is identified. Specifically, first extract each target element from the ground image (black diamond blocks can be selected as the target element in the ground image); then obtain the initial contour of each target element, and then call OpenCV (open source computer vision library) for calculation The preset function of the center of mass position transmits the initial contour of each target element to the preset function. After the preset function is processed, the coordinate value is output. The coordinate value is the center of mass coordinate of each target element in the ground image. . Call the preset radius value, and set the circular area corresponding to each target element with the center of mass coordinate as the center of the circle. The circular area is the position of the center of mass of the target element in the ground image.

在识别出各目标元素的质心位置之后，结合立体相机的安装参数对表征质心位置的质心坐标进行极坐标转换，得到各目标元素的深度数据坐标，以依据深度数据坐标拟合生成地面标识线的直线方程。具体的，将作为目标元素质心位置的圆形区域作为预设范围区间，各目标元素的深度数据坐标均以该预设范围区间为基础，查找与其前后左右相邻的点。每当找到前后或者左右有点的时候，将三个点去除保存到一个数组中，作为各深度数据坐标的目标坐标数据。在各深度数据坐标均查找到目标坐标数据后，然后对目标坐标数据进行坐标系转化，由于该目标坐标数据是以摄像装置所在位置作为坐标原点建立的，为便于后面的计算处理，可将目标坐标数据转换为以车辆的车后轮中心为坐标原点构建的二维直角坐标系中对应的坐标数据，进而采用最小二乘法将各经坐标系转换后的目标坐标数据生成为直线方程，该直线方程即为地面图像中地面标识线对应的直线方程。After identifying the centroid position of each target element, combine the installation parameters of the stereo camera to perform polar coordinate conversion on the centroid coordinates representing the centroid position to obtain the depth data coordinates of each target element, which can be fitted to generate the ground marking line according to the depth data coordinates. Linear equation. Specifically, the circular area as the center of mass of the target element is used as the preset range interval, and the depth data coordinates of each target element are all based on the preset range interval to find points adjacent to it. Whenever the front and back or left and right points are found, the three points are removed and saved in an array as the target coordinate data of each depth data coordinate. After finding the target coordinate data for each depth data coordinate, the target coordinate data is then transformed into the coordinate system. Since the target coordinate data is established with the location of the camera as the coordinate origin, for the convenience of subsequent calculation processing, the target The coordinate data is converted into the corresponding coordinate data in the two-dimensional rectangular coordinate system constructed with the center of the rear wheel of the vehicle as the coordinate origin, and then the least square method is used to generate the target coordinate data after the coordinate system conversion into a straight line equation. The equation is the straight line equation corresponding to the ground marking line in the ground image.

通过上述方式，可实现基于车辆的车体上安装的摄像装置获取地面图像，然后基于地面图像获取到地面标识线对应的直线方程，可便于后面基于该直线方程确定相对位置信息和形式数据，从而通过视觉辅助定位的方式，实现快速的高精度目的点定位功能。Through the above method, the ground image can be acquired based on the camera device installed on the vehicle body, and then the linear equation corresponding to the ground marking line can be acquired based on the ground image, which can facilitate the subsequent determination of relative position information and formal data based on the linear equation, thereby Through the way of visual aided positioning, it realizes the function of fast and high-precision target point positioning.

进一步地，基于上述各实施例，提出本申请车辆的控制方法的第六实施例。参照图6，在本实施例中，在步骤S30之后，该车辆的控制方法还包括：Further, based on the foregoing embodiments, a sixth embodiment of the vehicle control method of the present application is proposed. Referring to Fig. 6, in this embodiment, after step S30, the vehicle control method further includes:

步骤S40，在所述车辆行驶至所述库位目的点之后，获取地面标识线的直线方程，记为第三直线方程；Step S40, after the vehicle has traveled to the destination point of the storage location, obtain the straight line equation of the ground marking line, which is recorded as the third straight line equation;

步骤S50，根据所述第三直线方程计算得到第二旋转角度，并控制所述车辆以所述第二旋转角度进行旋转操作。In step S50, a second rotation angle is calculated according to the third straight line equation, and the vehicle is controlled to perform a rotation operation at the second rotation angle.

在本实施例中，在控制车辆行驶至库位目的点之后，再次获取地面标识线的直线方程，记为第三直线方程，第三直线方程的获取方式与第一直线方程的获取方式相一致，可参照上述实施例，此处不作赘述。其中，如图7（A）所示，第三直线方程即为地面标识线l1对应的直线方程。In this embodiment, after the vehicle is controlled to travel to the destination point of the storage location, the straight line equation of the ground marking line is obtained again, which is recorded as the third straight line equation. The third straight line equation is obtained in the same manner as the first straight line equation. Consistent, please refer to the above-mentioned embodiment, which will not be repeated here. Among them, as shown in Figure 7(A), the third straight line equation is the straight line equation corresponding to the ground marking line l1.

然后，根据第三直线方程计算得到第二旋转角度，具体的，参照上述第二实施例，以车辆（如SLAM叉车）的当前车后轮中心为坐标原点，以车辆的叉臂指向的反方向为y轴方向正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系，根据第三直线方程的斜率，计算该第三直线方程对应的地面标识线与y轴之间的夹角，即为第二旋转角度。在计算得到第二旋转角度之后，控制车辆以第二旋转角度进行旋转操作，以控制车辆与第三直线方程对应的地面标识线平行。具体的，例如图7，将车辆如图7（A）所示的姿态旋转至如图7（B）所示的姿态。Then, the second rotation angle is calculated according to the third straight line equation. Specifically, referring to the above-mentioned second embodiment, the center of the current rear wheel of the vehicle (such as a SLAM forklift) is used as the coordinate origin, and the fork arm of the vehicle is pointed in the opposite direction It is the positive direction of the y-axis, and the right side of the y-axis is the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system. According to the slope of the third straight-line equation, calculate the distance between the ground marking line and the y-axis corresponding to the third straight-line equation The included angle is the second rotation angle. After the second rotation angle is calculated, the vehicle is controlled to perform a rotation operation at the second rotation angle to control the vehicle to be parallel to the ground marking line corresponding to the third straight line equation. Specifically, for example, in FIG. 7, the posture of the vehicle as shown in FIG. 7(A) is rotated to the posture as shown in FIG. 7(B).

需要说明的是，在控制车辆以第二旋转角度进行旋转操作时，可采用PID闭环控制***来控制车辆的旋转，以控制车辆以更准确的姿态停靠在库位目的点坐标上，具体的执行过程与上述实施例相似，此处不作赘述。It should be noted that when controlling the vehicle to perform a rotation operation at the second rotation angle, the PID closed-loop control system can be used to control the rotation of the vehicle, so as to control the vehicle to park on the coordinates of the destination point of the storage location with a more accurate posture. The specific implementation The process is similar to the foregoing embodiment, and will not be repeated here.

此外，在控制车辆旋转到平行位置后，还可以基于PID闭环控制***控制车辆在库位目的点附近进行微小抖动调整，以更准确停靠在库位目的点坐标上，进一步提高库位目的点的定位精度。In addition, after controlling the vehicle to rotate to a parallel position, the PID closed-loop control system can also control the vehicle to make minor jitter adjustments near the destination point of the storage location, so as to park at the destination point coordinates of the storage location more accurately, and further improve the destination point of the storage location. positioning accuracy.

通过上述方式，可在车辆行驶至库位目的点之后，通过获取地面标识线的直线方程（第三直线方程），以确定第二旋转角度，进而根据第二旋转角度控制车辆旋转到平行位置，从而便于下一步进行叉取或堆放货物等操作。Through the above method, after the vehicle reaches the destination point of the storage location, the straight line equation (third straight line equation) of the ground marking line can be obtained to determine the second rotation angle, and then control the vehicle to rotate to the parallel position according to the second rotation angle. This facilitates operations such as fork picking or stacking of goods in the next step.

本申请还提供一种计算机可读存储介质，该计算机可读存储介质上存储有车辆的控制程序，所述车辆的控制程序被处理器执行时实现如以上任一项实施例所述的车辆的控制方法的步骤。The present application also provides a computer-readable storage medium that stores a control program of a vehicle on the computer-readable storage medium. When the control program of the vehicle is executed by a processor, the control program of the vehicle as described in any of the above embodiments is realized. Steps of the control method.

本申请计算机可读存储介质的具体实施例与上述车辆的控制方法各实施例基本相同，在此不作赘述。The specific embodiments of the computer-readable storage medium of the present application are basically the same as the above-mentioned embodiments of the vehicle control method, and will not be repeated here.

需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者***不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者***所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者***中还存在另外的相同要素。It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, It also includes other elements not explicitly listed, or elements inherent to the process, method, article, or system. Without more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or system that includes the element.

上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。Through the description of the above implementation manners, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disks, optical disks), including several instructions to make a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.

以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。The above are only the preferred embodiments of the application, and do not limit the scope of the patent for this application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of the application, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of this application.

Claims (15)

1. 一种车辆的控制方法，其中，所述车辆的控制方法包括以下步骤：A vehicle control method, wherein the vehicle control method includes the following steps:

   在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程，记为第一直线方程；When it is detected that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground identification line is acquired according to the ground image, which is recorded as the first linear equation;

   根据所述第一直线方程和预设库位口偏移距离，确定所述车辆的当前位姿与库位目的点之间的相对位置信息；Determine the relative position information between the current pose of the vehicle and the destination point of the storage location according to the first straight line equation and the preset storage location opening offset distance;

   基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据，并根据所述行驶数据控制所述车辆行驶至所述库位目的点。The driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.
2. 如权利要求1所述的车辆的控制方法，其中，所述相对位置信息包括库位目的点的第一坐标，所述根据所述第一直线方程和预设库位口偏移距离，确定所述车辆的当前位姿与库位目的点之间的相对位置信息的步骤包括：The vehicle control method according to claim 1, wherein the relative position information includes the first coordinates of the destination point of the storage location, and the determination is made according to the first linear equation and the preset storage location offset distance The steps of the relative position information between the current pose of the vehicle and the destination point of the storage location include:

   以所述车辆的当前位置为坐标原点，以所述车辆的叉臂指向的反方向为y轴正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系；Taking the current position of the vehicle as the origin of coordinates, the opposite direction of the fork arm of the vehicle as the positive direction of the y-axis, and the right direction of the y-axis as the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system;

   基于所述第一直线方程，计算地面标识线之间的交叉点在所述二维直角坐标系中的交叉点坐标，并计算所述车辆的姿态角度；Based on the first straight line equation, calculating the intersection coordinates of the intersection between the ground marking lines in the two-dimensional rectangular coordinate system, and calculating the posture angle of the vehicle;

   根据所述交叉点坐标、所述车辆的姿态角度、预设库位口偏移距离，确定所述库位目的点在所述二维直角坐标系中的坐标，记为所述库位目的点的第一坐标。Determine the coordinates of the destination point of the storage location in the two-dimensional rectangular coordinate system according to the coordinates of the intersection, the attitude angle of the vehicle, and the preset offset distance of the storage location, and record it as the destination point of the storage location The first coordinate.
3. 如权利要求2所述的车辆的控制方法，其中，所述行驶数据包括第一旋转角度和移动距离，所述基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据的步骤包括：The method for controlling a vehicle according to claim 2, wherein the driving data includes a first rotation angle and a moving distance, and the calculation based on the relative position information obtains the corresponding value for the vehicle to reach the destination point of the storage location The steps of driving data include:

   计算所述库位目的点的第一坐标与所述坐标原点所构成直线的斜率，根据所述斜率计算得到所述车辆到达所述库位目的点所对应的第一旋转角度；Calculating the slope of the straight line formed by the first coordinates of the destination point of the storage location and the origin of the coordinates, and calculating the first rotation angle corresponding to the vehicle reaching the destination point of the storage location according to the slope;

   计算所述库位目的点的第一坐标与所述坐标原点之间的距离，得到所述车辆到达所述库位目的点所对应的移动距离。The distance between the first coordinate of the destination point of the storage location and the origin of the coordinates is calculated, and the movement distance corresponding to the vehicle reaching the destination point of the storage location is obtained.
4. 如权利要求1所述的车辆的控制方法，其中，所述根据所述行驶数据控制所述车辆行驶至所述库位目的点的步骤包括：The method for controlling a vehicle according to claim 1, wherein the step of controlling the vehicle to travel to the destination point of the storage location according to the travel data comprises:

   控制所述车辆以所述行驶数据中的第一旋转角度进行旋转操作，得到姿态转变后的车辆；Controlling the vehicle to perform a rotation operation at the first rotation angle in the driving data to obtain a vehicle with a posture transition;

   控制所述姿态转变后的车辆根据所述行驶数据中的移动距离行驶至所述库位目的点。The vehicle after the posture transition is controlled to travel to the destination point of the storage location according to the moving distance in the travel data.
5. 如权利要求4所述的车辆的控制方法，其中，所述控制所述车辆以所述行驶数据中的第一旋转角度进行旋转操作的步骤包括：5. The vehicle control method according to claim 4, wherein the step of controlling the vehicle to perform a rotation operation at the first rotation angle in the travel data comprises:

   在旋转过程中，实时获取地面标识线的直线方程，记为第二直线方程；During the rotation, the straight line equation of the ground marking line is obtained in real time, and it is recorded as the second straight line equation;

   根据所述第二直线方程对应的斜率和比例-积分-导数PID算法实时计算PID旋转控制量，并根据所述PID旋转控制量控制所述车辆进行旋转操作，直至达到所述行驶数据中的第一旋转角度；According to the slope corresponding to the second linear equation and the proportional-integral-derivative PID algorithm, the PID rotation control amount is calculated in real time, and the vehicle is controlled to perform the rotation operation according to the PID rotation control amount until the first in the driving data is reached. A rotation angle;

   所述控制所述姿态转变后的车辆根据所述行驶数据中的移动距离行驶至所述库位目的点的步骤包括：The step of controlling the vehicle after the posture transition to travel to the destination point of the storage location according to the moving distance in the travel data includes:

   在移动过程中，获取地面标识线的交叉点与所述姿态转变后的车辆之间的实时距离；During the movement, acquiring the real-time distance between the intersection of the ground marking line and the vehicle after the posture transition;

   根据所述实时距离和所述PID算法实时计算PID移动控制量，并根据所述PID移动控制量控制所述姿态转变后的车辆进行移动，直至达到所述行驶数据中的移动距离、行驶至所述库位目的点。The PID movement control quantity is calculated in real time according to the real-time distance and the PID algorithm, and the vehicle after the attitude transition is controlled to move according to the PID movement control quantity until the movement distance in the driving data is reached and the vehicle travels to the desired position. Describe the destination of the location.
6. 如权利要求1所述的车辆的控制方法，其中，所述基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程的步骤包括：The vehicle control method according to claim 1, wherein the step of acquiring a ground image based on a camera device installed on the body of the vehicle, and acquiring a straight line equation of a ground marking line according to the ground image comprises:

   基于所述车辆的车体上安装的摄像装置获取地面图像，并识别所述地面图像中与地面标识线对应的各目标元素的质心位置；Acquiring a ground image based on a camera device installed on the body of the vehicle, and identifying the centroid position of each target element corresponding to the ground identification line in the ground image;

   根据所述各目标元素的质心位置，确定各目标元素对应的目标数据坐标，并根据所述目标数据坐标生成地面标识线的直线方程。According to the centroid position of each target element, the target data coordinates corresponding to each target element are determined, and the straight line equation of the ground marking line is generated according to the target data coordinates.
7. 如权利要求1所述的车辆的控制方法，其中，所述根据所述行驶数据控制所述车辆行驶至所述库位目的点的步骤之后，所述车辆的控制方法还包括：5. The vehicle control method according to claim 1, wherein after the step of controlling the vehicle to travel to the destination point of the storage location according to the travel data, the vehicle control method further comprises:

   在所述车辆行驶至所述库位目的点之后，获取地面标识线的直线方程，记为第三直线方程；After the vehicle travels to the destination point of the storage location, the straight line equation of the ground marking line is obtained, which is recorded as the third straight line equation;

   根据所述第三直线方程计算得到第二旋转角度，并控制所述车辆以所述第二旋转角度进行旋转操作。A second rotation angle is calculated according to the third straight line equation, and the vehicle is controlled to perform a rotation operation at the second rotation angle.
8. 如权利要求1所述的车辆的控制方法，其中，所述在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程，记为第一直线方程的步骤之前，所述车辆的控制方法还包括：The method for controlling a vehicle according to claim 1, wherein when detecting that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the vehicle body of the vehicle, and the ground image is acquired based on the ground image. Before the step of marking the straight line equation of the marking line as the first straight line equation, the control method of the vehicle further includes:

   获取所述库位目的点在预设即时定位与地图构建SLAM地图中的坐标，根据所述库位目的点的坐标确定与所述库位目的点对应的导航目的点的坐标；Obtain the coordinates of the destination point of the storage location in the preset real-time positioning and map construction SLAM map, and determine the coordinates of the navigation destination point corresponding to the destination point of the storage location according to the coordinates of the destination point of the storage location;

   基于所述导航目的点的坐标和所述预设SLAM地图，控制所述车辆行驶至所述导航目的点。Based on the coordinates of the navigation destination point and the preset SLAM map, control the vehicle to travel to the navigation destination point.
9. 一种车辆的控制装置，其中，所述车辆的控制装置包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的车辆的控制程序，所述车辆的控制程序被所述处理器执行时实现如下步骤：A vehicle control device, wherein the vehicle control device includes a memory, a processor, and a vehicle control program stored in the memory and running on the processor, and the vehicle control program is When the processor executes, the following steps are implemented:

   在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程，记为第一直线方程；When it is detected that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground identification line is acquired according to the ground image, which is recorded as the first linear equation;

   根据所述第一直线方程和预设库位口偏移距离，确定所述车辆的当前位姿与库位目的点之间的相对位置信息；Determine the relative position information between the current pose of the vehicle and the destination point of the storage location according to the first straight line equation and the preset storage location opening offset distance;

   基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据，并根据所述行驶数据控制所述车辆行驶至所述库位目的点。The driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.
10. 如权利要求9所述的车辆的控制装置，其中，所述相对位置信息包括库位目的点的第一坐标，所述计算机可读指令被所述处理器执行时还实现如下步骤：The vehicle control device according to claim 9, wherein the relative position information includes the first coordinates of the destination point of the storage location, and the computer-readable instructions further implement the following steps when executed by the processor:

    以所述车辆的当前位置为坐标原点，以所述车辆的叉臂指向的反方向为y轴正方向，以y轴右侧方向为x轴正方向，构建二维直角坐标系；Taking the current position of the vehicle as the origin of coordinates, the opposite direction of the fork arm of the vehicle as the positive direction of the y-axis, and the right direction of the y-axis as the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system;

    基于所述第一直线方程，计算地面标识线之间的交叉点在所述二维直角坐标系中的交叉点坐标，并计算所述车辆的姿态角度；Based on the first straight line equation, calculating the intersection coordinates of the intersection between the ground marking lines in the two-dimensional rectangular coordinate system, and calculating the posture angle of the vehicle;

    根据所述交叉点坐标、所述车辆的姿态角度、预设库位口偏移距离，确定所述库位目的点在所述二维直角坐标系中的坐标，记为所述库位目的点的第一坐标。Determine the coordinates of the destination point of the storage location in the two-dimensional rectangular coordinate system according to the coordinates of the intersection, the attitude angle of the vehicle, and the preset offset distance of the storage location, and record it as the destination point of the storage location The first coordinate.
11. 如权利要求10所述的车辆的控制装置，其中，所述行驶数据包括第一旋转角度和移动距离，所述计算机可读指令被所述处理器执行时还实现如下步骤：The vehicle control device according to claim 10, wherein the driving data includes a first rotation angle and a moving distance, and the computer-readable instructions further implement the following steps when executed by the processor:

    计算所述库位目的点的第一坐标与所述坐标原点所构成直线的斜率，根据所述斜率计算得到所述车辆到达所述库位目的点所对应的第一旋转角度；Calculating the slope of the straight line formed by the first coordinates of the destination point of the storage location and the origin of the coordinates, and calculating the first rotation angle corresponding to the vehicle reaching the destination point of the storage location according to the slope;

    计算所述库位目的点的第一坐标与所述坐标原点之间的距离，得到所述车辆到达所述库位目的点所对应的移动距离。The distance between the first coordinate of the destination point of the storage location and the origin of the coordinates is calculated, and the movement distance corresponding to the vehicle reaching the destination point of the storage location is obtained.
12. 如权利要求9所述的车辆的控制装置，其中，所述计算机可读指令被所述处理器执行时还实现如下步骤：The vehicle control device according to claim 9, wherein the following steps are further implemented when the computer-readable instructions are executed by the processor:

    控制所述车辆以所述行驶数据中的第一旋转角度进行旋转操作，得到姿态转变后的车辆；Controlling the vehicle to perform a rotation operation at the first rotation angle in the driving data to obtain a vehicle with a posture transition;

    控制所述姿态转变后的车辆根据所述行驶数据中的移动距离行驶至所述库位目的点。The vehicle after the posture transition is controlled to travel to the destination point of the storage location according to the moving distance in the travel data.
13. 如权利要求12所述的车辆的控制装置，其中，所述计算机可读指令被所述处理器执行时还实现如下步骤：The vehicle control device according to claim 12, wherein the following steps are further implemented when the computer-readable instructions are executed by the processor:

    在旋转过程中，实时获取地面标识线的直线方程，记为第二直线方程；During the rotation, the straight line equation of the ground marking line is obtained in real time, and it is recorded as the second straight line equation;

    根据所述第二直线方程对应的斜率和比例-积分-导数PID算法实时计算PID旋转控制量，并根据所述PID旋转控制量控制所述车辆进行旋转操作，直至达到所述行驶数据中的第一旋转角度；According to the slope corresponding to the second linear equation and the proportional-integral-derivative PID algorithm, the PID rotation control amount is calculated in real time, and the vehicle is controlled to perform the rotation operation according to the PID rotation control amount until the first in the driving data is reached. A rotation angle;

    所述控制所述姿态转变后的车辆根据所述行驶数据中的移动距离行驶至所述库位目的点的步骤包括：The step of controlling the vehicle after the posture transition to travel to the destination point of the storage location according to the moving distance in the travel data includes:

    在移动过程中，获取地面标识线的交叉点与所述姿态转变后的车辆之间的实时距离；During the movement, acquiring the real-time distance between the intersection of the ground marking line and the vehicle after the posture transition;

    根据所述实时距离和所述PID算法实时计算PID移动控制量，并根据所述PID移动控制量控制所述姿态转变后的车辆进行移动，直至达到所述行驶数据中的移动距离、行驶至所述库位目的点。The PID movement control quantity is calculated in real time according to the real-time distance and the PID algorithm, and the vehicle after the attitude transition is controlled to move according to the PID movement control quantity until the movement distance in the driving data is reached and the vehicle travels to the desired position. Describe the destination of the location.
14. 如权利要求9所述的车辆的控制装置，其中，所述计算机可读指令被所述处理器执行时还实现如下步骤：The vehicle control device according to claim 9, wherein the following steps are further implemented when the computer-readable instructions are executed by the processor:

    基于所述车辆的车体上安装的摄像装置获取地面图像，并识别所述地面图像中与地面标识线对应的各目标元素的质心位置；Acquiring a ground image based on a camera device installed on the body of the vehicle, and identifying the centroid position of each target element corresponding to the ground identification line in the ground image;

    根据所述各目标元素的质心位置，确定各目标元素对应的目标数据坐标，并根据所述目标数据坐标生成地面标识线的直线方程。According to the centroid position of each target element, the target data coordinates corresponding to each target element are determined, and the straight line equation of the ground marking line is generated according to the target data coordinates.
15. 一种计算机可读存储介质，其中，所述计算机可读存储介质上存储有车辆的控制程序，所述车辆的控制程序被处理器执行时实现如下步骤：A computer-readable storage medium, wherein a vehicle control program is stored on the computer-readable storage medium, and the following steps are implemented when the vehicle control program is executed by a processor:

    在检测到车辆到达导航目的点时，基于所述车辆的车体上安装的摄像装置获取地面图像，并根据所述地面图像获取地面标识线的直线方程，记为第一直线方程；When it is detected that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground identification line is acquired according to the ground image, which is recorded as the first linear equation;

    根据所述第一直线方程和预设库位口偏移距离，确定所述车辆的当前位姿与库位目的点之间的相对位置信息；Determine the relative position information between the current pose of the vehicle and the destination point of the storage location according to the first straight line equation and the preset storage location opening offset distance;

    基于所述相对位置信息计算得到所述车辆到达所述库位目的点所对应的行驶数据，并根据所述行驶数据控制所述车辆行驶至所述库位目的点。The driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.