Mine truck self-adaptive retaining wall unloading parking method, device and system and computer equipment

The invention belongs to the technical field of unmanned driving, and relates to a mine truck self-adaptive retaining wall unloading parking method and device. The method comprises the following steps: acquiring position information of a preset unloading point, and acquiring a distance from the center of a rear axle of a mine truck to the preset unloading point according to the position information of the preset unloading point; comparing the distance with a first preset distance, and if the distance is smaller than the first preset distance, acquiring point cloud data including the ground and the retaining wall; according to the point cloud data, the distances from the centers of two rear wheels and the center of a rear axle of the mine truck to the retaining wall are obtained; adjusting the course angle of the mine truck to be consistent with the normal direction angle of the retaining wall according to the distance from the centers of the two rear wheels of the mine truck to the retaining wall, and control