本文提出一种激光点云与立体视觉深度感知融合下的船舶自动靠离泊控制方法。首先，通过高精度相机与激光雷达联合标定，建立图像像素坐标系与激光雷达坐标系的转换关系；然后，采用椭圆形关联门和全局最近邻匹配算法实现跨模态目标关联，确保靠离泊目标的精确位置；最后，针对船舶欠驱动特性，设计了纵向速度、横向速度和转航速度的增量式PID控制器，结合推力分配策略动态调整推进器参数，以应对复杂水动力环境的影响。实验结果表明，本文方法在目标匹配准确率有效提高，控制效果有效提升了船舶靠离泊的自动化水平和安全性。
This article proposes an automatic berthing and disembarking control method for ships based on the fusion of laser point cloud and stereoscopic vision depth perception. Firstly, through the joint calibration of high-precision cameras and LiDAR, the conversion relationship between the image pixel coordinate system and the LiDAR coordinate system is established. Then, the elliptical correlation gate and global nearest neighbor matching algorithm are used to achieve cross modal target correlation, ensuring the accurate position of the berthing target. Finally, in response to the underactuated characteristics of ships, an incremental PID controller was designed for longitudinal speed, lateral speed, and turning speed. The thruster parameters were dynamically adjusted using a thrust allocation strategy to cope with the impact of complex hydrodynamic environments. The experimental findings demonstrate that the method presented in this paper yields a significant enhancement in the accuracy of target matching, and the control effect effectively enhances the automation level and safety of ship berthing and disembarking.
2026,48(5): 139-145 收稿日期：2025-8-27
DOI：10.3404/j.issn.1672-7649.2026.05.022
分类号：U675.921
基金项目：2025年上海市发改委服务业发展引导资金项目（01132025111）
作者简介：闻鸣(1981-),男,研究员,研究方向为智慧码头
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