Patent ID: 11932418
Assignee: TLD EUROPE
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 19:
20. A method for controlling docking of a vehicle, at a given docking zone of a docking destination, the given docking zone comprising at least one target, the method comprising:
determining a position of the given docking zone by determining a type of target from a set of given types and from its position,
determining a guidance trajectory of the vehicle to the given docking zone depending on the type and depending on a position of the target; and
determining a type of the docking destination;
wherein determining the guidance trajectory comprises determining one or more exclusion zones depending on the type of the docking destination, and comparing the type of the docking destination with types of docking destinations stored in a database in association with exclusion zones, so that the guidance trajectory of the vehicle to the given docking zone does not pass into any of the exclusion zones;
wherein determining the guidance trajectory comprises determining a docking line passing through a target point situated on a surface of the given docking zone and perpendicular to this the surface so that the guidance trajectory of the vehicle to the given docking zone is terminated by a final portion of the docking line with a length greater than or equal to a predetermined threshold; and
allowing the vehicle to reach the target point using the guidance trajectory by forming a circular arc extending from a center of a rear suspension of the vehicle to the target point, with a radius determined by a formula (X2+Y2)/(2×Y), with X and Y corresponding to coordinates of the target point relative to the center of the rear suspension of the vehicle.