公开(公告)号：US20210394747A1

公开(公告)日：2021-12-23

申请号：US17360649

申请日：2021-06-28

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yiming LI ,  Xu XIAO ,  Yuhe JIN ,  Jinpeng CAI ,  Nan WU

IPC: B60W30/06 ,  G06K9/62 ,  G06T7/521 ,  G08G1/00 ,  B60W50/00 ,  B60W10/04 ,  B60W10/18 ,  G01S17/931 ,  G01S7/48 ,  G01S17/42

Abstract: A method, a device, and a system for parking a truck accurately in a shore crane area are provided. A vehicle controller transmits a parking request for a truck to be parked. A main controller receives the parking request and acquires real-time point cloud data by scanning one or more lanes crossed by a shore crane using one or more LiDARs. The main controller clusters the real-time point cloud data to obtain a set of point clouds for the truck and applies an Iterative Closest Point algorithm to the set of point clouds and a vehicle point cloud model to obtain a real-time distance from the truck to a target parking space. The vehicle controller controls the truck to stop at the target parking space based on the real-time distance.