Agricultural field navigation path planning system for autonomous vehicle and method thereof

Abstract

The application discloses a farmland navigation path planning system for an automatic driving vehicle and a method thereof. The system comprises a farmland data collection component, a farmland structure division component, a basic path planning component, a land division component and a farmland navigation path merging component. The farmland data collection component collects farmland information by driving a vehicle around the outermost ridge of the farmland. The farmland structure division component divides the starting ridge, the ending ridge, the far end, the near end, the number of ridges and the turning anchor point position of the farmland based on the average ridge width, the turning anchor point position and the turning radius of the vehicle. The basic path planning component plans the continuous driving route of the vehicle in different basic land blocks in a manner of crossing at least one ridge and excluding repeated driving in the same ridge. The land division component divides the farmland into a plurality of basic land blocks and a last land block in sequence from the starting ridge with a basic ridge number of at least 5. The farmland navigation path merging component connects the navigation paths of all the basic land blocks and the last land block in sequence to obtain an automatic driving navigation map of the vehicle in the farmland.

Description

Technical Field

[0001] This disclosure relates to a vehicle navigation method and system. More specifically, this disclosure relates to a farmland navigation route planning system and method for autonomous vehicles. Background Technology

[0002] With the large-scale development of agriculture, the demand for agricultural mechanization and intelligent agriculture is increasing. Therefore, there is a need to realize the intelligentization of agricultural machinery in large-scale agricultural production, making autonomous driving of vehicles in large-scale farmland a real requirement.

[0003] Automated agricultural vehicles need a navigation map that includes plot boundaries, ridge widths, and turning ranges when entering orchards. Existing technologies for obtaining such maps include acquiring them from GIS systems, using RTK-GNSS to mark the start and end points of each ridge for mapping, and using laser-guided lines to direct vehicle movement. However, in practical applications, methods using GIS systems often require up-to-date satellite maps and meticulous imaging and positioning calibration, and their accuracy is often insufficient to meet centimeter-level navigation requirements. While RTK-GNSS marking of each ridge's start and end points offers high accuracy, it is extremely labor-intensive for large-scale (tens of thousands of acres) orchards, requiring significant manpower for mapping. Laser-guided lines require the deployment of specialized equipment and a large workforce, making low-cost, large-scale application impractical. These methods are user-unfriendly for ordinary users and present significant technical barriers for non-professional users.

[0004] Therefore, with the increasing popularity of large-scale planting, for ordinary farmers, a technology that allows agricultural machinery users to independently create navigation maps without the need for professional technicians, and with a simple and direct user experience that eliminates the need for repeated precise RTK marking, would greatly reduce the cost of obtaining a navigation map. Such a farmland navigation map planning system for autonomous agricultural vehicles is urgently needed by users. Summary of the Invention

[0005] To address the aforementioned technical problems, the inventors of this disclosure recognize that large-scale farmland exhibits local repetitive characteristics. Therefore, they provide a farmland navigation path planning system for autonomous vehicles, comprising: a farmland data collection component, which acquires farmland latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size by driving the vehicle around the outermost ridge of the farmland from the starting point of the initial ridge, using the vehicle's starting point as a reference point; a farmland structure division component, which uses the initial ridge width as the average ridge width of the farmland and, based on the obtained turning anchor point positions and the vehicle's turning radius at each anchor point, divides the farmland structure, including the starting ridge, ending ridge, far end, near end, number of ridges, and turning anchor point position; and a basic path planning component, which, when the pitch between adjacent ridges is less than the vehicle's turning radius, performs path planning accordingly. For each basic plot with a different number of basic ridges, a continuous travel route for the vehicle across different basic plots is planned, excluding repeated travel across plots not in the same ridge. A plot division component divides the farmland into multiple basic plots starting from the initial ridge, using basic ridges containing at least 5 ridges as units. If the total number of ridges in the farmland is not divisible by the number of basic ridges, the plot with the last remaining number of ridges is taken as the last plot, or the plot with the last remaining number of ridges less than 5 is merged with the last basic plot to form the last plot. A farmland navigation path merging component selects the basic plots of the farmland with the basic number of ridges and connects the navigation paths of all basic plots and the last plot in sequence to obtain an autonomous driving navigation map of the vehicle in the farmland, wherein the number of ridges in the last plot is greater than 5 and less than twice the number of basic ridges selected.

[0006] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, wherein the navigation path planning component plans a navigation map of the autonomous vehicle in the farmland in a manner of continuous row-by-row travel when the pitch between adjacent rows is greater than or equal to the turning radius of the vehicle.

[0007] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, when the number of rows in a basic plot is 5, the navigation path planning component plans the route sequence of rows 0, 2, 4, 1 and 3 in the basic plot, and when entering the next basic plot, it directly enters the 0th row of the next basic plot from the 3rd row of the current basic plot.

[0008] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, when the number of rows in a basic plot is 7, the navigation path planning component plans the route sequence of rows 0, 2, 5, 3, 1, 4, and 6 in the basic plot, and when entering the next basic plot, it directly enters the 0th row of the next basic plot from the 6th row of the current basic plot.

[0009] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, when the number of rows in a basic plot is 9, the navigation path planning component plans the route sequence of rows 0, 2, 5, 7, 4, 1, 3, 6 and 8 in the basic plot, and when entering the next basic plot, it directly enters the 0th row of the next basic plot from the 8th row of the current basic plot.

[0010] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, the number of basic rows of the basic plot continuous travel route planned by the basic path planning component includes at least: 5 rows, 6 rows, 7 rows, 8 rows, and 9 rows.

[0011] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, the basic path planning component plans a continuous travel route for the vehicle in different basic plots for each basic plot with a different number of basic ridges, in a manner that is not smaller than the minimum number of ridges greater than the vehicle's turning radius and excludes repeated travel in the same ridge.

[0012] According to the farmland navigation path planning system for autonomous vehicles disclosed herein, the number of rows in the basic plots divided by the plot division component is at least one more row than twice the minimum number of rows.

[0013] According to another aspect of this disclosure, a method for planning farmland navigation paths for autonomous vehicles is provided, comprising: acquiring farmland latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size using a farmland data collection component as a reference point during the vehicle's circumference around the outermost ridge of the farmland from the starting point of the starting ridge; dividing the farmland structure using a farmland structure partitioning component, with the starting ridge width as the average ridge width of the farmland, and based on the obtained turning anchor point positions and the turning radius of the vehicle at each anchor point position, partitioning the farmland structure, said structure including starting ridge, ending ridge, far end, near end, number of ridges, and turning anchor point positions; and using a basic path planning component, when the pitch between adjacent ridges is less than the vehicle's turning radius, for each different basic path planning method... The system plans continuous travel routes for vehicles across different basic plots, ensuring that the vehicle crosses at least one plot and excludes repeated travel across plots not in the same plot. Using a plot division component, the farmland is divided into multiple basic plots starting from the initial plot, with each basic plot containing at least 5 plots as a unit. If the total number of plots in the farmland is not divisible by the number of basic plots, the plot with the last remaining number of plots is designated as the final plot, or a plot with the last remaining number of plots (less than 5) is merged with the final basic plot to form the final plot. A farmland navigation path merging component selects the basic plots of the farmland based on their number of basic plots, and connects the navigation paths of all basic plots and the final plot sequentially to obtain an autonomous driving navigation map of the vehicle in the farmland. The final plot has more than 5 plots but less than twice the number of the selected basic plots.

[0014] The method for planning a navigation path for an autonomous vehicle in farmland according to the present disclosure further includes: the navigation path planning component planning a navigation map of the autonomous vehicle in the farmland in a manner of continuous row-by-row travel when the pitch between adjacent ridges is greater than or equal to the turning radius of the vehicle.

[0015] By employing the farmland navigation path planning system and method for autonomous vehicles disclosed herein, a global navigation map can be automatically generated by collecting corresponding positioning and sensor data during the vehicle's circling of the work site. This system and method eliminates the need for specialized technicians, allowing agricultural machinery users to autonomously create the navigation map. The user experience is simple and direct, eliminating the need for repeated precise RTK marking, significantly reducing the cost of obtaining a navigation map. Furthermore, this system and method also provides a navigation path planning scheme that plans a global path covering the entire orchard when the vehicle's minimum turning radius is limited and it cannot directly turn into adjacent rows (at least one row can be crossed). After obtaining the orchard map and navigation path using this technology, agricultural machinery can then operate autonomously within the same work area, making the use and deployment of automated agricultural machinery highly efficient.

[0016] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0017] Figure 1 The diagram shown is an application scenario illustration based on this disclosure.

[0018] Figure 2 The diagram shown is a schematic diagram of the principle of the multi-source signal navigation system 100 for agricultural vehicles according to this disclosure.

[0019] Figure 3 The diagram shown is a schematic representation of the point cloud signal source generation component 120 of the multi-source signal navigation system 100 for agricultural vehicles according to the present disclosure.

[0020] Figure 4 The diagram shown is a flowchart illustrating a method for constructing a spatial structural framework for vehicle positioning within farmland ridges according to the present disclosure of a multi-source signal navigation system 100 for farmland vehicles. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings, so that those skilled in the art can implement it based on the description.

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0023] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0024] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. Depending on the context, the word "if" as used herein can be interpreted as "when," "when," or "in response to determination."

[0025] To enable those skilled in the art to better understand this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Figure 1 The diagram shown illustrates an application scenario based on this disclosure. For example... Figure 1 As shown, agricultural vehicles can travel within the rows of divided farmland. Because different farmlands have different areas and shapes, users would have to invest significant effort and expense in repeatedly building farmland maps. Therefore, using conventional GIS systems to obtain maps or marking the start and end points of each row using RTK-GNSS for mapping and guiding vehicles with laser lines is uneconomical and impractical for ordinary farmers.

[0027] Therefore, this disclosure provides a method such as Figure 2 The scene shown is a farmland. Figure 2 The diagram shown is an application example according to this disclosure. For example... Figure 2 As shown, the driver first drives vehicle 100 into the first row of the plot under normal driving conditions. After completing the entire row, the vehicle turns to the end of the plot and continues driving along the end of the plot to the last row, then turns into it. After completing the last row, the vehicle turns into the other end of the plot and continues driving along the end of the plot to the first row from which it started, stopping near the starting position. This completes the user operation part of the mapping. Then... Figure 2As shown, the system disclosed herein obtains GNSS latitude and longitude location information during the user's driving process. The original latitude and longitude information is downsampled (1m) to obtain discrete, sparse latitude and longitude points uniformly distributed along the driving path. The vehicle's forward direction angle is calculated from the downsampled points using position difference. The downsampling ensures stable and low-error forward direction calculation results using position difference. Subsequently, by traversing the vehicle's forward direction data and considering the changes in the forward direction angle, the following is obtained: Figure 2 The map uses four turning anchor points to divide the driving trajectory into four segments: the starting ridge, the far end, the ending ridge, and the near end. A map coordinate system is established with the direction of the starting ridge as the x-axis and the starting point as the origin. The vehicle's turning radius is generally known, for example, R. The area within R of the near / far end trajectory is defined as the end area. This provides sufficient turning range for the vehicle at the end of the field. The average ridge width W is defined as the ridge width measured or identified at the starting ridge. From the starting ridge + W / 2 to the ending ridge - W / 2, ridge position information is established according to each ridge width of W. That is, based on the average ridge width, the farmland is divided into multiple ridges from the starting ridge to the ending ridge. Therefore, by combining the map origin, map direction, and the start and end points of each ridge, a navigation map can be obtained. It should be noted that the farmland does not need to be rectangular; its shape is determined by the actual driving trajectory. Therefore, each ridge is not necessarily a straight line; ridges are usually parallel to each other.

[0028] Figure 3 The diagram shown is a schematic representation of a farmland navigation path planning system 300 for autonomous vehicles according to this disclosure. Specifically, as... Figure 3As shown, a farmland navigation path planning system for an autonomous vehicle 100 includes: a farmland data collection component 310, a farmland structure division component 320, a basic path planning component 330, a plot division component 340, and a farmland navigation path merging component 350. First, the farmland data collection component 310 acquires farmland latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size by driving the vehicle around the outermost ridge from the starting point of the initial ridge, using the vehicle's starting point as a reference point. Specifically, it obtains GNSS latitude and longitude position information during the user's driving process. After distance downsampling (1m), the original latitude and longitude information is obtained as discrete sparse latitude and longitude points evenly distributed along the path. The distance downsampling points are used to calculate the vehicle's travel direction angle through position difference. Distance downsampling ensures stable and low-error calculation results for the travel direction using position difference. Subsequently, the farmland structure segmentation component 320 uses the starting ridge width as the average ridge width of the farmland, and based on the obtained turning anchor point positions and the turning radius of the vehicle at each anchor point, segments the farmland structure, which includes the starting ridge, ending ridge, far end, near end, number of ridges, and turning anchor point positions. Specifically, the farmland structure segmentation component 320 obtains the following structure by traversing the vehicle's forward direction data and considering the changes in the forward direction angle: Figure 2 The diagram shows four turning anchor points, dividing the driving trajectory into four segments: the starting ridge, the far end, the ending ridge, and the near end. A map coordinate system is established with the starting ridge direction as the x-axis and the starting point as the origin. The vehicle's turning radius is generally known, for example, R. The area within R of the near / far end trajectory is defined as the end area. This provides sufficient turning range for the vehicle at the end of the field. By simply having the vehicle drive around the outer edge of the farmland once, a usable farmland map is constructed, preparing for subsequent farmland navigation path planning.

[0029] Subsequently, the basic path planning component 330, when the pitch between adjacent ridges is less than the vehicle's turning radius, plans a continuous travel route for the vehicle across different basic plots for each type of basic plot with a different number of basic ridges, ensuring that the vehicle crosses at least one ridge and excludes repeated travel across ridges not in the same plot. For example, in farmland, the ridge spacing W is typically between 3.5 and 5 meters, and the turning radius R of a farm tractor is around 3.5 meters. Due to limitations in turning radius, ridge spacing, and headroom width, farm tractors often cannot directly turn into adjacent ridges (R>W / 2). Therefore, cross-ridge operations are required. This disclosure proposes a simple cross-ridge path planning method that can simultaneously cover all ridges while ensuring that the work covers at least one ridge. Since basic plots with fewer than 5 ridges cannot achieve non-repeating cross-ridge travel when crossing ridges, each basic plot must have at least 5 ridges or more. Alternatively, if the ridge spacing or ridge pitch is greater than the vehicle's turning radius and the headroom range is greater than the vehicle's turning radius, then cross-ridge travel is unnecessary, and the vehicle can proceed directly ridge by ridge.

[0030] The planned travel path differs depending on the number of basic ridges in a plot. Let's take the case of crossing at least one ridge as an example. If a basic plot has 5 ridges, the vehicle's ridge-to-ridge sequence within that plot is "0, 2, 4, 1, and 3". That is, it first passes ridge 0, then crosses ridge 1, enters ridge 2, and to avoid repeated ridge travel, it directly enters ridge 4 from ridge 2, returns to ridge 1, and finally enters ridge 3. This satisfies both the requirement to cross ridges to prevent vehicles from being unable to turn around and the prevention of repeated ridge travel. If a basic plot has 6 ridges, the vehicle's ridge-to-ridge sequence within that plot is "0, 2, 4, 1, 3, 5". If a basic plot has 7 ridges, the vehicle's ridge-to-ridge sequence is "0, 2, 5, 3, 1, 4, 6". If the number of ridges in a basic plot is 8, then the order of ridges in which the vehicle travels within that basic plot is "0, 2, 5, 7, 4, 1, 3, 6". If the number of ridges in a basic plot is 9, then the order of ridges in which the vehicle travels within that basic plot is "0, 2, 5, 7, 4, 1, 3, 6, 8".

[0031] Alternatively, the basic path planning component 330 plans a continuous route for the vehicle across different basic plots for each basic plot with a different number of basic ridges, using a ridge span no smaller than the minimum number of ridges required for the vehicle's turning radius, and excluding repeated travel across the same ridge. If the vehicle's turning radius requires crossing two ridges each time, the minimum number of ridges is 3, therefore the basic plot must contain at least 7 ridges. Thus, in a basic plot with 7 ridges, the planned path's ridge sequence can be "0, 3, 6, 2, 5, 1, 7", "0, 3, 6, 1, 4, 2, 5", "0, 4, 1, 5, 2, 6, 3", or other suitable path sequences, as long as adjacent ridge sequences cross at least two ridges and no ridges are traveled repeatedly. Similarly, if the vehicle's turning radius requires crossing three ridges each time, the minimum number of ridges is 4, therefore the basic plot must contain at least 9 ridges. If a vehicle's turning radius requires crossing 4 plots of land each time, then the basic plot must contain at least 9 plots of land.

[0032] For the farmland, the plot division component 340 divides the farmland into multiple basic plots starting from the initial ridge, using a basic ridge count of at least 5 ridges as the unit. If the total number of ridges in the farmland is not divisible by the number of basic ridges, the plot with the last remaining ridge count is designated as the final plot, or a plot with a remainder less than 5 is combined with the final basic plot to form the final plot. Typically, for simplicity, basic plots are divided according to the minimum number of basic ridges required to allow vehicles to turn. For example, if a vehicle can turn by crossing one ridge, then a basic plot with 5 ridges is used. Optionally, more ridges than 5 can be selected according to the user's needs, such as 6-9 ridges. It should be noted that if a basic plot has 5 ridges, the number of remaining ridges will inevitably be less than 5, making it difficult to achieve turning across ridges without repeatedly traversing ridges. Therefore, this disclosure combines the last basic plot with the remaining ridges to form the final plot for path planning. Alternatively, if there are more than 5 basic plots, and the remainder is also greater than or equal to 5, then there is no need to merge the remainder plots with the last basic plot to form the final plot; instead, the remainder plots can be directly used as the final plot.

[0033] Since the basic path planning component 330 has already planned paths for basic plots with at least 5 rows, the path planning for the last plot is also included in the path planning for all types of basic plots planned by the basic path planning component 330; only selection is required. For example, if the basic path planning component 330 has planned path plans for basic plots containing 5-9 rows, then if the number of rows in the selected basic plot is 9, and the last plot has 7 rows, then the path planning for the basic plot with 7 rows can be directly selected as the path planning for that last plot.

[0034] Alternatively, if the turning radius of the vehicle needs to cover two ridges, that is, when the vehicle turns from the end of ridge 0, it must turn directly to at least ridge 3 to achieve a normal turn, then the basic plot set by the plot division component 340 must include at least 7 ridges. In other words, the number of ridges in the basic plot divided by the plot division component is at least one more than twice the minimum number of ridges.

[0035] Finally, the farmland navigation path merging component 350 selects the basic plots of the farmland with the basic number of ridges, and connects the navigation paths of all basic plots and the last plot in sequence to obtain an autonomous driving navigation map of the vehicle in the farmland, wherein the number of ridges of the last plot is greater than 5 and less than twice the number of the selected basic ridges.

[0036] For example, if the path sequence of the first basic plot with 5 ridges is "0, 2, 4, 1, and 3", then after traversing the first basic plot numbered "3", the vehicle directly enters the second basic plot numbered "0", and so on. This also avoids situations where vehicles cannot turn between adjacent basic plots. Alternatively, if there are situations where vehicles cannot turn between adjacent basic plots when they are connected end-to-end, since the path sequence of the basic plots can be different, a different path sequence can be chosen after the first basic plot is completed, thus eliminating situations where vehicles cannot turn between adjacent basic plots.

[0037] Figure 4 The diagram shown is a flowchart illustrating a method for planning navigation routes through farmland for autonomous vehicles according to this disclosure. Figure 4As shown, firstly, in step S410, the farmland data collection component 310 acquires the farmland's latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size during the vehicle's journey around the outermost ridge from the starting point of the starting ridge, using the vehicle's starting point as a reference point. Next, in step S420, the farmland structure division component 320 uses the starting ridge width as the average ridge width of the farmland and, based on the obtained turning anchor point positions and the vehicle's turning radius at each anchor point, divides the farmland into structures including the starting ridge, ending ridge, far end, near end, number of ridges, and turning anchor point positions. Then, in step S430, the basic path planning component 330, when the pitch between adjacent ridges is less than the vehicle's turning radius, plans a continuous travel route for the vehicle across different basic plots for each different number of basic ridges, ensuring that the vehicle crosses at least one ridge and excludes repeated travel across different ridges. Subsequently, in step S440, the farmland is divided into multiple basic plots starting from the initial ridge, using a basic ridge count of at least 5 ridges as the unit, by the plot division component 340. If the total number of ridges in the farmland is not divisible by the number of basic ridges, the plot with the last remaining number of ridges is designated as the last plot, or the plot with the last remaining number of ridges (remainder less than 5) is merged with the last basic plot to form the last plot. Finally, in step S450, the farmland navigation path merging component 350 selects the basic plots of the farmland based on the basic ridge count, and connects the navigation paths of all basic plots and the last plot sequentially to obtain an autonomous driving navigation map of the vehicle in the farmland. The last plot has a ridge count greater than 5 and less than twice the selected basic ridge count.

[0038] Alternatively, the navigation path planning component can plan a navigation map for the autonomous vehicle in the farmland in a row-by-row manner when the pitch between adjacent rows is greater than or equal to the turning radius of the vehicle.

[0039] By employing the farmland navigation path planning system and method for autonomous vehicles disclosed herein, a global navigation map can be automatically generated by collecting corresponding positioning and sensor data during the vehicle's circling of the work site. This system and method eliminates the need for specialized technicians, allowing agricultural machinery users to autonomously create the navigation map. The user experience is simple and direct, eliminating the need for repeated precise RTK marking, significantly reducing the cost of obtaining a navigation map. Furthermore, this system and method also provides a navigation path planning scheme that plans a global path covering the entire orchard when the vehicle's minimum turning radius is limited and it cannot directly turn into adjacent rows (at least one row can be crossed). After obtaining the orchard map and navigation path using this technology, agricultural machinery can then operate autonomously within the same work area, making the use and deployment of automated agricultural machinery highly efficient. More importantly, by combining the navigation map with the vehicle's turning performance, different navigation maps can be used for different vehicles. This eliminates the trouble of farmers having to choose different navigation maps for different vehicles. In particular, different farm vehicles have different tasks and different turning performance. Therefore, by adopting the technical means disclosed herein, personalized navigation map construction can be achieved for different vehicles.

[0040] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that those skilled in the art will understand that all or any step or component of the methods and apparatus of this disclosure can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of this disclosure.

[0041] Therefore, the object of this disclosure can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of this disclosure can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes this disclosure, and the storage medium storing such a program product also constitutes this disclosure. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future.

[0042] It should also be noted that, in the apparatus and method of this disclosure, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of this disclosure. Furthermore, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order. Some steps can be performed in parallel or independently of each other.

[0043] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A farmland navigation path planning system for autonomous vehicles, comprising: The farmland data collection component obtains farmland latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size by driving a vehicle around the outermost ridge of the farmland from the starting point of the starting ridge, using the vehicle's starting point as a reference point. The farmland construction and division component uses the width of the starting ridge as the average ridge width of the farmland, and divides the farmland into constructions based on the obtained turning anchor point positions and the turning radius of the vehicle at each anchor point position. The construction includes the starting ridge, the ending ridge, the far end, the near end, the number of ridges, and the turning anchor point positions. The basic path planning component, when the pitch between adjacent ridges is less than the turning radius of the vehicle, plans the continuous travel route of the vehicle in different basic plots for each basic plot with different basic ridge counts, in a way that crosses at least one ridge and excludes repeated travel in different ridges. The plot division component divides farmland into multiple basic plots in sequence, starting from the initial ridge, using the number of basic ridges containing at least 5 ridges as the unit. If the total number of ridges in the farmland cannot be divided evenly by the number of basic ridges, the plot with the last remaining number of ridges is taken as the last plot, or the plot with the last remaining number of ridges less than 5 is combined with the last basic plot to form the last plot. as well as The farmland navigation path merging component selects basic plots of farmland with a basic number of ridges, and connects the navigation paths of all basic plots and the last plot in sequence to obtain an autonomous driving navigation map of the vehicle in the farmland, wherein the last plot has more than 5 ridges and less than twice the number of basic ridges selected; The basic path planning component plans a navigation map for the autonomous vehicle in the farmland in a row-by-row manner when the pitch between adjacent rows is greater than or equal to the turning radius of the vehicle.

2. The farmland navigation path planning system for autonomous vehicles according to claim 1, wherein when the number of rows in the basic plot is 5, the basic path planning component plans the route sequence of rows 0, 2, 4, 1 and 3 in the basic plot, and when entering the next basic plot, it directly enters the 0th row of the next basic plot from the 3rd row of the current basic plot.

3. The farmland navigation path planning system for autonomous vehicles according to claim 1, wherein when the number of rows in the basic plot is 7, the basic path planning component plans the route sequence of rows 0, 2, 5, 3, 1, 4, and 6 in the basic plot, and when entering the next basic plot, it directly enters the 0th row of the next basic plot from the 6th row of the current basic plot.

4. The farmland navigation path planning system for autonomous vehicles according to claim 1, wherein when the number of rows in the basic plot is 9, the basic path planning component plans the route sequence of rows 0, 2, 5, 7, 4, 1, 3, 6 and 8 in the basic plot, and when entering the next basic plot, it directly enters the 0th row of the next basic plot from the 8th row of the current basic plot.

5. The farmland navigation path planning system for autonomous vehicles according to claim 1, wherein the number of basic ridges in the continuous travel route of the basic plots planned by the basic path planning component includes at least: Five rows, six rows, seven rows, eight rows, and nine rows.

6. The farmland navigation path planning system for autonomous vehicles according to claim 1, wherein the basic path planning component plans a continuous travel route for the vehicle in different basic plots for each basic plot with a different number of basic ridges, in a manner that is not smaller than the minimum number of ridges greater than the turning radius of the vehicle and excludes repeated travel in the same ridge.

7. The farmland navigation path planning system for autonomous vehicles according to claim 6, wherein the number of rows in the basic plots divided by the plot division component is at least one more row than twice the minimum number of rows.

8. A method for planning navigation routes through farmland for autonomous vehicles, comprising: The farmland data collection component obtains farmland latitude and longitude information, starting ridge width, vehicle travel direction angle, vehicle turning anchor point position, and farmland size by using the vehicle's starting point as a reference point during the process of the vehicle traveling around the outermost ridge of the farmland from the starting point of the starting ridge. The farmland is divided using a farmland construction component. The average ridge width of the farmland is taken as the ridge width of the starting ridge. Based on the obtained turning anchor point positions and the turning radius of the vehicle at each anchor point, the farmland is divided into a construction, which includes the starting ridge, the ending ridge, the far end, the near end, the number of ridges, and the turning anchor point positions. Using the basic path planning component, when the pitch between adjacent ridges is less than the turning radius of the vehicle, for each basic plot with a different number of basic ridges, the continuous travel route of the vehicle in different basic plots is planned in a way that crosses at least one ridge and excludes repeated travel in different ridges. The plot division component divides farmland into multiple basic plots in sequence, starting from the initial ridge, with each basic ridge containing at least 5 ridges as the unit. If the total number of ridges in the farmland cannot be divided evenly by the number of basic ridges, the plot with the last remaining number of ridges is taken as the last plot, or the plot with the last remaining number of ridges less than 5 is combined with the last basic plot to form the last plot. as well as The basic plots of farmland with a basic number of ridges are selected by the farmland navigation path merging component. The navigation paths of all basic plots and the last plot are connected end to end in sequence to obtain an autonomous driving navigation map of the vehicle in the farmland, wherein the number of ridges in the last plot is greater than 5 and less than twice the number of basic ridges selected. The basic path planning component plans a navigation map for the autonomous vehicle in the farmland in a row-by-row manner when the pitch between adjacent rows is greater than or equal to the turning radius of the vehicle.

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