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Local guiding trajectory planning method and device for tractor automatic driving system

A technology of trajectory planning and automatic driving, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as vibration, large tracking error, and long guidance trajectory distance

Active Publication Date: 2019-06-25
CHINESE ACAD OF AGRI MECHANIZATION SCI
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AI Technical Summary

Problems solved by technology

The existing automatic driving system mainly relies on the built-in path tracking algorithm to complete the first stage. Due to the lack of guidance trajectory planning method, the guidance trajectory distance is longer, and there will be oscillations at the starting point of the global path, and the tracking error is large.
Therefore, in order to improve the operation accuracy, the tractor driver can only rely on manual driving in the first stage, and the automation program is relatively low

Method used

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  • Local guiding trajectory planning method and device for tractor automatic driving system
  • Local guiding trajectory planning method and device for tractor automatic driving system
  • Local guiding trajectory planning method and device for tractor automatic driving system

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Embodiment Construction

[0073] Herein, the detailed content and technical description of the present invention will be further described with a preferred embodiment, but it should not be construed as a limitation to the implementation of the present invention.

[0074] Please refer to Figure 1 to Figure 7 , figure 1 It is a flow chart of the local guidance trajectory planning method of the present invention; figure 2 for figure 1 Step-by-step flow chart of step 1; image 3 for figure 1 Step-by-step flow chart of step 3; Figure 4 for image 3 The step-by-step flowchart of step 303; Figure 5 It is a schematic diagram of the guiding trajectory of the present invention; Figure 6 It is a schematic diagram of a two-wheeled vehicle model of the present invention; Figure 7 It is a schematic diagram of the geometric relationship between the starting and ending point heading constraints and B-spline control points in the present invention. Such as Figure 1-7 As shown, the micro-local guidance ...

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Abstract

The invention discloses a local guiding trajectory planning method and device for a tractor automatic driving system. The local guiding trajectory planning method comprises the steps that 1 a local guiding trajectory is set as a B-spline curve, and coordinate parameters of six control points of the local guiding trajectory are set based on the B-spline curve; 2 the trajectory function of the localguiding trajectory is acquired according to the coordinate parameters of six control points and a B-spline curve expression; and 3 the coordinate parameters are optimized based on a quantum genetic algorithm to acquire the optimal local guiding trajectory.

Description

technical field [0001] The invention belongs to the technical field of automatic driving of agricultural vehicles, and in particular relates to a method and device for planning a local guidance trajectory of an automatic driving system of a tractor. Background technique [0002] The tractor automatic driving system is an indispensable part of the current field of agricultural machinery intelligence. Agricultural vehicles with autonomous driving capabilities not only help to improve labor productivity, but also help solve problems such as rural labor shortage. [0003] The path planning algorithm is the key technology of the tractor automatic driving system. Most of the current academic research focuses on the global path planning in the field. The automatic driving system needs to go through two stages to track the global path: 1) Starting from the current position of the vehicle and approaching the global path The initial operating point of the tractor in this process is ca...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 贾全苑严伟伟利国付拓赵博毛文华刘阳春
Owner CHINESE ACAD OF AGRI MECHANIZATION SCI
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