Agricultural machinery automatic driving system key technology research and development based on Beidou positioning

Abstract

The invention discloses agricultural machinery automatic driving system key technology research and development based on Beidou positioning, and the method is characterized in that the method comprises the following specific steps: S1, formulating an initial path of parking according to an initial point and an end point of parking, and selecting more than one core coordinate on the initial path; S2, selecting a trajectory function according to the initial path; S3, taking the core coordinates and curvature information of the initial point and the end point of parking as input values of a trajectory function, calculating a control point of trajectory planning, and taking the control point as a variable initial value; S4, formulating an objective function, a constraint condition and a variable value range, and performing quadratic programming of the sequence according to the objective function, the constraint condition, the variable value range and the variable initial value to obtain anoptimal solution of the optimized trajectory function; and S5, drawing a final trajectory function of the parking trajectory according to the optimal solution, wherein the final trajectory function is a trajectory curve of parking.

Description

technical field [0001] The invention belongs to the technical field of vehicle autonomous parking, and in particular relates to an efficient parallel parking planning method based on nonlinear optimization in the research and development of a key technology of an agricultural machinery automatic driving system based on Beidou positioning. Background technique [0002] In recent years, with the rapid growth of domestic car ownership, parking spaces in cities have become increasingly tight and narrow. For the situation that the parking space is too narrow, it is often difficult for the driver to control the car to park quickly and accurately, and the probability of accidents caused by parking is greatly increased. [0003] The autonomous parking system can help the driver park accurately and safely. This system uses ranging sensors and vehicle speed sensors to automatically detect the size of the parking space, then plans a parking path, and finally automatically controls the ...

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Problems solved by technology

[0005] However, in the above patents, the path is not smooth and the curvature is discontinuous, which will cause the problem of needing to stop and turn the steering wheel in the actual parking process, and this situation is difficult to meet the actual parking needs

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