Automatic docking method of automatic driving marshalling vehicle

The invention discloses an automatic docking method for an automatic driving marshalling vehicle, solves the problem of unbalanced transport capacity of a public transport system or a freight transport system, and reduces the waste of personnel and vehicles. Pictures are acquired through the camera and then transmitted to the Raspberry Pi in real time through the USB for data processing, the Raspberry Pi calls the OpenCV library to properly process video streams, and the distance between a following vehicle and a nearest target point and the steering angle control rate are calculated accordingto the relative position and the steering angle of the target vehicle. The controller uses a Stanley algorithm to control the movement of the vehicle after obtaining the data, and performs automaticdocking on the target front vehicle. Machine vision is used for sensing the surrounding environment of the vehicle, the camera has the advantages of being easy and convenient to install and easy to debug, visual information co