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An autopilot, method of guiding a vehicle along a tracked line, and computer readable medium

A technology for autopilots and vehicles, applied in the field of autopilots, computer readable media, and guiding vehicles along a straight line, which can solve the problems of vehicles not being able to track straight lines, low accuracy of autopilots, and increased production costs. Achieve the effects of reducing production costs, wide applicability, and improving production efficiency

Active Publication Date: 2021-12-07
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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  • An autopilot, method of guiding a vehicle along a tracked line, and computer readable medium
  • An autopilot, method of guiding a vehicle along a tracked line, and computer readable medium
  • An autopilot, method of guiding a vehicle along a tracked 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, and the dual-antenna receiver is used to measure the position, speed, roll angle and heading angle of the vehicle; The angle sensor is connected to the central control unit, and the angle sensor is used to measure the steering angle of the front wheels of the vehicle; and the steering controller is connected to the central control unit, and the steering controller is used to control the steering of the front wheels of the vehicle; wherein, the central control unit according to the position , speed, vehicle body roll angle, vehicle body course angle and front wheel steering angle to calculate the sideslip course angle, the central control unit corrects the vehicle body course angle according to the sideslip course angle, and calculates the expected front wheel steering angle, and the steering controller bases on It is desired that the front wheel steering angle controls the front wheel steering so that the vehicle moves along the track 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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276G05D2201/0201
Inventor 陈宁许良
Owner COMNAV TECH
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