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Autopilot, method for guiding vehicle along straight tracking line, and computer-readable medium

An autopilot and vehicle technology, applied in the field of guiding vehicles along a tracking straight line, computer readable medium, and autopilot, can solve the problems of vehicles unable to track linear motion, low accuracy of autopilot, and increasing production costs, etc. Achieve the effect of reducing production cost, wide applicability and improving production efficiency

Active Publication Date: 2018-04-20
COMNAV TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the field of autonomous driving is becoming more and more popular, and the application of autopilot is becoming more and more extensive. In actual work, at least one of the following problems exists: the accuracy of the autopilot is not high when it is working, and the positioning is not accurate, resulting in the vehicle being unable to According to the predetermined tracking linear motion, the production efficiency is reduced and the production cost is increased.

Method used

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  • Autopilot, method for guiding vehicle along straight tracking line, and computer-readable medium
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  • Autopilot, method for guiding vehicle along straight tracking line, and computer-readable medium

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Embodiment Construction

[0022] Autopilot is currently considered a necessity for modern and efficient farm operations. Autopilot enables more precise driving than a human and never gets tired. It can make it easier and easier for machinery to operate in dark or dusty conditions. Operators can reduce driver fatigue while maintaining high quality farming. With accurate path tracking, heavy and missed tillage can be avoided, increasing yields while also reducing the amount of fuel and chemicals used, saving money and protecting the environment.

[0023] However, if figure 1 As shown, when the vehicle E is working, especially when the vehicle E is working on the slope H, due to the effect of gravity, the vehicle E will be exerted a side-slip force F1 downward along the slope H, and when the ground on the slope is relatively soft Or when the land is sandy soil, the sideslip force F1 will cause the vehicle E to slip (sideslip problem occurs), resulting in a sideslip heading angle, so when the vehicle E ...

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Abstract

The invention relates to an autopilot comprising a central control unit, a dual-antenna receiver connected to the central control unit, an angle sensor connected to the central control unit, and a steering controller connected to the central control unit. The dual-antenna receiver is used for measuring position, speed, vehicle body roll angle and vehicle body course angle information of a vehicle.The angle sensor is used for measuring a steering angle of a front wheel of a vehicle. And the steering controller is used for controlling the steering of the front wheel of the vehicle. The centralcontrol unit calculates a slideslip course angle based on the position, speed, vehicle body roll angle, vehicle body course angle, and front wheel steering angle, corrects the vehicle body course angle based on the slideslip course angle, and calculates an expected front wheel steering angle; and the steering controller controls the steering of the front wheel based on the expected front wheel steering angle, so that the vehicle moves along the straight tracking line.

Description

technical field [0001] The present invention relates to the field of automatic driving, and in particular to an automatic pilot, a method for guiding a vehicle along a tracking straight line, and a computer-readable medium. Background technique [0002] At present, the field of autonomous driving is becoming more and more popular, and the application of autopilot is becoming more and more extensive. In actual work, at least one of the following problems exists: the accuracy of the autopilot is not high when it is working, and the positioning is not accurate, resulting in the vehicle being unable to According to the predetermined tracking linear motion, the production efficiency is reduced and the production cost is increased. Contents of the invention [0003] In view of this, the present invention provides an autopilot, a method of guiding a vehicle along a tracking line, and a computer readable medium. [0004] On the one hand, an autopilot is provided, including: a cen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 陈宁许良
Owner COMNAV TECH
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