Fast automatic docking control for electric tractors

Abstract

In this study, we investigate the automatic docking of an electric tractor with a semi-trailer in narrow and long-distance scenarios. We propose an automatic docking method based on a multi-sensor fusion high-precision positioning algorithm and a multi-strategy docking control algorithm. To solve the heading-angle error of the involved camera due to mechanical errors, a compensation value in the form of angle deviation is introduced. To alleviate the increase in the camera detection error with longitudinal distance, a piecewise coordinate compensation function is proposed. Repositioning is performed using light detection and ranging (Lidar) to improve the pose-perception accuracy to the millimeter level. To avoid the interference of point clouds on the relocation accuracy of Lidar, a search-and-location method that combines both small and large neighborhoods is proposed. To achieve the desired docking success rate, a multi-strategy-adjustment control algorithm is used to enable comprehensive adjustment, including approximate control of the maximum angle based on lateral deviation and fine proportional-integral-differential (PID) control based on lateral deviation and longitudinal distance, security check cycle and premature warning mechanism, and risk avoidance control. Finally, the reliability and stability of the design scheme are verified by conducting multiple experiments involving actual vehicles.