Unmanned vehicle

Abstract

The invention relates to the technical field of agricultural machinery, in particular to an unmanned vehicle. The unmanned vehicle comprises a control valve, a front axle plunger cylinder and a controller. The control valve comprises an oil inlet and two oil outlets, and the two oil outlets of the control valve are connected with the two oil cavities of the front axle plunger type cylinder through a left front axle oil pipe and a right front axle oil pipe respectively. Target path information is stored in the controller in advance, when the control valve receives steering information sent by the controller, hydraulic oil of the vehicle enters from an oil inlet of the control valve, and the control valve adjusts the opening degree of two oil outlets of the control valve according to the received steering information so as to complete steering of the vehicle. According to the unmanned vehicle, the problems that manual intervention is needed during path steering of a traditional unmanned tractor, and unmanned driving and unmanned steering cannot be truly achieved are solved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to an unmanned vehicle. Background Art

[0002] Traditional unmanned tractors are mainly used for long-distance and large-area operations, and generally the same operation path remains relatively parallel. During operation, the cab needs to be equipped with an operator, and the steering wheel is changed from manual operation to a steering wheel equipped with a navigation operating system, which can operate in a straight line according to the predetermined navigation information.

[0003] However, when the vehicle reaches a critical position, for example, when the driving path needs to be slightly adjusted, path steering requires manual intervention and the operator performs manual steering. At this time, the steering gear is connected to the steering wheel, and the amount of oil entering the front axle cylinder is adjusted through the steering gear to adjust the direction of the tractor.

[0004] However, the above driving method is more like assisted driving and cannot truly achieve unmanned driving and unmanned steering. Summary of the invention

[0005] The purpose of this application is to provide an unmanned vehicle, thereby solving the problem that traditional unmanned tractors require manual intervention when turning their paths, and cannot truly achieve unmanned driving and unmanned steering.

[0006] According to the present application, an unmanned vehicle is provided, which includes a control valve, a front axle plunger cylinder and a controller; the control valve includes an oil inlet and two oil outlets, and the two oil outlets of the control valve are respectively connected to the two oil chambers of the front axle plunger cylinder through a left front axle oil pipe and a right front axle oil pipe; the controller pre-stores target path information, and when the control valve receives steering information sent from the controller, the vehicle's hydraulic oil enters through the oil inlet of the control valve, and the control valve adjusts the opening of its two oil outlets according to the received steering information to complete the steering of the vehicle.

[0007] In any of the above technical solutions, further, the unmanned vehicle also includes a priority valve and a steering gear; one of the oil outlets of the priority valve is connected to the oil inlet of the control valve, and the other oil outlet of the priority valve is connected to the oil inlet of the steering gear; the two oil outlets of the steering gear are respectively connected to the left front axle oil pipe and the right front axle oil pipe through two intermediate pipes; the vehicle's hydraulic oil can enter the control valve or the steering gear via the priority valve.

[0008] In any of the above technical solutions, further, the unmanned vehicle also includes a first angle sensor; when the control valve receives the steering information sent from the controller, the first angle sensor obtains the steering angle of the vehicle in real time, and compares the obtained steering angle with the target steering angle, and the control valve corrects the opening of its two oil outlets in real time according to the received comparison information, thereby correcting the steering angle of the vehicle; when the steering angle of the vehicle is consistent with the target steering angle, the control valve adjusts the opening of its two oil outlets to the same.

[0009] In any of the above technical solutions, further, the unmanned vehicle also includes a transfer valve, a chassis, a front fixed plate of the cab and a front axle; the first angle sensor is fixed on the front axle to obtain the steering angle of the front axle; the control valve, the priority valve and the transfer valve are all fixed on the chassis, and the steering gear is fixed on the front fixed plate of the cab; one of the oil outlets of the priority valve is connected to the oil inlet of the transfer valve through a steering pipe, and the oil outlet of the transfer valve is connected to the oil inlet of the control valve through the control valve oil inlet pipe.

[0010] In any of the above technical solutions, further, the unmanned vehicle also includes a brake assisting valve and a chassis braking system; the brake assisting valve includes two first oil inlets and two oil outlets, and the two first oil inlets of the brake assisting valve are respectively connected to its own two oil outlets; the two oil outlets of the brake assisting valve are respectively connected to the chassis braking system through the left chassis oil pipe and the right chassis oil pipe; when the brake assisting valve receives the braking information sent from the controller, the hydraulic oil of the vehicle enters through the two first oil inlets of the brake assisting valve, and is respectively transported to the chassis braking system through the left chassis oil pipe and the right chassis oil pipe to complete the braking of the vehicle.

[0011] In any of the above technical solutions, further, the unmanned vehicle also includes an accumulator and a brake pump; the two first oil outlets of the accumulator are connected to the two first oil inlets of the brake auxiliary valve through a first connecting pipe and a second connecting pipe respectively; the second oil outlet of the accumulator is connected to the oil inlet of the brake pump, and the two oil outlets of the brake pump are connected to the left chassis oil pipe and the right chassis oil pipe through a left brake oil pipe and a right brake oil pipe respectively; the vehicle's hydraulic oil can enter the brake pump or the brake auxiliary valve via the accumulator.

[0012] In any of the above technical solutions, further, the unmanned vehicle also includes a position sensor; when the brake assist valve receives the braking information sent from the controller, the position sensor obtains the actual position of the vehicle in real time, and compares the obtained actual position with the target position, and the brake assist valve adjusts the oil pressure entering the left chassis oil pipe and the right chassis oil pipe in real time according to the received comparison information to adjust the braking speed of the vehicle.

[0013] In any of the above technical solutions, further, the unmanned vehicle also includes a second angle sensor, a speed sensor and a parking brake; when the vehicle reaches the target position, the second angle sensor obtains the slope angle of the vehicle and compares the obtained slope angle with the target slope angle; if the obtained slope angle is less than the target slope angle, and the speed sensor has a value of zero within a certain time range, the controller sends a parking signal to the parking brake to complete vehicle braking; if the obtained slope angle is greater than the target slope angle, the brake auxiliary valve continues to deliver hydraulic oil to the chassis braking system through the left chassis oil pipe and the right chassis oil pipe respectively.

[0014] In any of the above technical solutions, further, the unmanned vehicle also includes a chassis and a front fixed plate of the cab; the brake auxiliary valve is fixed on the chassis, and the accumulator and the brake pump are both fixed on the front fixed plate of the cab; the brake auxiliary valve also includes two second oil inlets, and the two second oil inlets of the brake auxiliary valve are respectively connected to its own two oil outlets, and the two oil outlets of the brake pump are respectively connected to the two second oil inlets of the brake auxiliary valve through the left brake oil pipe and the right brake oil pipe.

[0015] In any of the above technical solutions, further, the unmanned vehicle is an unmanned tractor.

[0016] The unmanned vehicle of the present application includes a control valve, a front axle plunger cylinder and a controller. The control valve includes an oil inlet and two oil outlets, and the two oil outlets of the control valve are connected to the two oil chambers of the front axle plunger cylinder through the left front axle oil pipe and the right front axle oil pipe respectively; the controller stores target path information in advance, and when the control valve receives steering information sent from the controller, the hydraulic oil of the vehicle enters from the oil inlet of the control valve, and the control valve adjusts the opening of its two oil outlets according to the received steering information to complete the steering of the vehicle.

[0017] According to the above technical features, the beneficial effects of this application are:

[0018] The unmanned vehicle of the present application can automatically complete path steering according to the preset path (target path information). The unmanned vehicle is completed by adding a control valve and cooperating with the entire hydraulic system. When path steering is required, the vehicle controller will transmit the control signal to the control valve according to the target path information. When the control valve receives the control signal (steering information) sent from the controller, the control valve adjusts the opening of its two oil outlets according to the collected steering information to adjust the oil pressure of the oil chambers on both sides of the front axle plunger cylinder, and then adjusts the deflection angle of the front axle to complete the steering of the vehicle.

[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram showing the overall structure of an unmanned tractor according to an embodiment of the present application;

[0022] Figure 2 Show Figure 1 A partial structural diagram of

[0023] Figure 3 Show Figure 1 A schematic diagram of the structure of another part.

[0024] Icons: 1-closed-core control valve; 2-steering gear; 3-front axle; 4-accumulator; 5-brake pump; 6-brake auxiliary valve; 7-steering pipe; 8-left front axle oil pipe; 9-right front axle oil pipe; 10-transfer valve; 11-first connecting pipe; 12-second connecting pipe; 13-left brake oil pipe; 14-right brake oil pipe; 15-left chassis oil pipe; 16-right chassis oil pipe; 17-parking brake; 18-first angle sensor; 19-control valve oil inlet pipe; 20-welded bracket; 21-cab front fixing plate; 22-front axle plunger cylinder; 23-chassis; 24-position sensor; 25-priority valve; 26-second angle sensor; 27-speed sensor. DETAILED DESCRIPTION

[0025] The following specific embodiments are provided to help the reader obtain a comprehensive understanding of the methods, devices and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be apparent. For example, the order of operations described herein is merely an example, and is not limited to the order set forth herein, but in addition to the operations that must occur in a particular order, changes that will be apparent after understanding the disclosure of the present application may be made. In addition, in order to improve clarity and brevity, descriptions of features known in the art may be omitted.

[0026] The features described herein may be implemented in different forms and should not be interpreted as being limited to the examples described herein. Rather, the examples described herein have been provided only to illustrate some of the many possible ways of implementing the methods, devices and / or systems described herein that will be apparent after understanding the disclosure of the present application.

[0027] Throughout the specification, when an element (such as a layer, a region, or a substrate) is described as being “on”, “connected to”, “bound to”, “over”, or “covering” another element, it may be directly “on”, “connected to”, “bound to”, “over”, or “covering” another element, or one or more other elements may be present between them. In contrast, when an element is described as being “directly on”, “directly connected to”, “directly bound to”, “directly over”, or “directly covering” another element, there may be no other elements present between them.

[0028] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more items.

[0029] Although terms such as "first," "second," and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions are not limited by these terms. Rather, these terms are only used to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Therefore, without departing from the teachings of the examples described herein, the first member, component, region, layer, or portion referred to may also be referred to as the second member, component, region, layer, or portion.

[0030] For ease of description, spatial relational terms such as "above", "upper", "below", and "lower" may be used herein to describe the relationship of one element to another element as shown in the accompanying drawings. Such spatial relational terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, an element described as being "above" or "upper" relative to another element will subsequently be "below" or "lower" relative to the other element. Therefore, the term "above" includes both "above" and "below" orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relational terms used herein will be interpreted accordingly.

[0031] The terms used herein are only used to describe various examples and are not used to limit the present disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms "include", "comprise" and "have" list the stated features, quantities, operations, components, elements and / or their combinations that exist, but do not exclude the existence or addition of one or more other features, quantities, operations, components, elements and / or their combinations.

[0032] Variations in the shapes shown in the drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the drawings but include variations in shapes that occur during manufacturing.

[0033] The features of the examples described herein may be combined in various ways that will be apparent after understanding the disclosure of the present application. In addition, although the examples described herein have various configurations, other configurations are possible as will be apparent after understanding the disclosure of the present application.

[0034] The present application provides an unmanned vehicle, thereby solving the problem that the traditional unmanned tractor needs manual intervention when turning the path, and cannot truly achieve unmanned driving and unmanned steering. Figures 1 to 3 An unmanned vehicle according to some embodiments of the present application is described.

[0035] like Figures 1 to 3As shown, the unmanned vehicle of the present application includes a control valve, a front axle plunger cylinder 22 and a controller (the control valve is preferably a closed-core control valve 1). Among them, the closed-core control valve 1 includes an oil inlet and two oil outlets, and the two oil outlets of the closed-core control valve 1 are respectively connected to the two oil chambers of the front axle plunger cylinder 22 through the left front axle oil pipe 8 and the right front axle oil pipe 9; the controller pre-stores the target path information, and when the closed-core control valve 1 receives the steering information sent from the controller, the hydraulic oil of the vehicle enters from the oil inlet of the control valve, and the closed-core control valve 1 adjusts the opening of its two oil outlets according to the received steering information to complete the steering of the vehicle.

[0036] As described above, the unmanned vehicle of the present application can automatically complete path steering according to a preset path (target path information). The unmanned vehicle is completed by adding a closed-core control valve 1 through the cooperation of the entire hydraulic system. When path steering is required, the vehicle controller will transmit the control signal to the closed-core control valve 1 according to the target path information. When the closed-core control valve 1 receives the control signal (steering information) sent from the controller, the closed-core control valve 1 adjusts the opening of its two oil outlets according to the collected steering information to adjust the amount of oil from the closed-core valve to the left front axle oil pipe 8 and the right front axle oil pipe 9. The oil pressures of the oil chambers on both sides of the front axle plunger cylinder 22 are different, thereby adjusting the deflection angle of the front axle to complete the steering of the vehicle.

[0037] Furthermore, in an embodiment of the present application, the unmanned vehicle also includes a first angle sensor 18; when the closed-core control valve 1 receives steering information sent from the controller, the first angle sensor 18 obtains the steering angle of the vehicle in real time, and compares the obtained steering angle with the target steering angle, and the closed-core control valve 1 corrects the opening of its two oil outlets in real time according to the received comparison information, thereby correcting the steering angle of the vehicle; when the steering angle of the vehicle is consistent with the target steering angle, the closed-core control valve 1 adjusts the opening of its two oil outlets to the same.

[0038] In this embodiment, preferably, the first angle sensor 18 can be fixed on the front axle 3, and the first angle sensor 18 obtains the steering angle of the front axle 3. The first angle sensor 18 on the front axle 3 is compared with the target path to determine whether the steering is completed, and the oil port opening of the closed-core control valve 1 is further adjusted to further correct the path. When the actual path is consistent with the target path, the input signal of the closed-core control valve 1 changes, and the closed-core control valve 1 adjusts the opening of its two oil outlets to the same, and the oil pressure on both sides of the front axle plunger cylinder 22 is the same, and the front axle completes the steering and no longer changes the angle.

[0039] Further, in the embodiments of the present application, Figure 2As shown, the unmanned vehicle further includes a priority valve 25 and a steering gear 2. Among them, one of the oil outlets of the priority valve 25 is connected to the oil inlet of the closed core control valve 1, and the other oil outlet of the priority valve 25 is connected to the oil inlet of the steering gear 2. The two oil outlets of the steering gear 2 are respectively connected to the left front axle oil pipe 8 and the right front axle oil pipe 9 through two intermediate pipes.

[0040] Specifically, when the unmanned vehicle needs manual steering, the hydraulic oil of the vehicle can enter the steering gear 2 through the priority valve 25, and the amount of oil entering the front axle plunger cylinder 22 is adjusted through the steering gear 2, thereby adjusting the forward direction of the vehicle. When the unmanned vehicle is not automatically driving (automatic steering), the hydraulic oil of the vehicle can enter the closed-core control valve 1 through the priority valve 25, and the closed-core control valve 1 adjusts the opening of its two oil outlets, thereby adjusting the steering angle of the vehicle.

[0041] In the embodiment of the present application, the unmanned vehicle further includes a transfer valve 10, a chassis 23, a front fixing plate 21 of the cab and a front axle 3. Among them, the closed-core control valve 1, the priority valve 25 and the transfer valve 10 are all fixed on the chassis 23 (the closed-core control valve 1 is fixed to the welding bracket 20 of the chassis 23), and the steering gear 2 is fixed to the front fixing plate 21 of the cab. One of the oil outlets of the priority valve 25 is connected to the oil inlet of the transfer valve 10 through the steering pipe 7, and the oil outlet of the transfer valve 10 is connected to the oil inlet of the closed-core control valve 1 through the control valve oil inlet pipe 19.

[0042] In addition, it is worth mentioning that traditional unmanned tractors are also unable to complete automatic braking and parking, and braking must be done manually by the operator.

[0043] In view of this, this application is to solve the above problems. Figures 1 to 3 As shown, the unmanned vehicle of the present application further includes a brake assist valve 6 and a chassis brake system. The brake assist valve 6 includes two first oil inlets and two oil outlets, and the two first oil inlets of the brake assist valve 6 are respectively connected to its two oil outlets; the two oil outlets of the brake assist valve 6 are respectively connected to the chassis brake system through the left chassis oil pipe 15 and the right chassis oil pipe 16; when the brake assist valve 6 receives the braking information sent from the controller, the hydraulic oil of the vehicle enters through the two first oil inlets of the brake assist valve 6, and is respectively delivered to the chassis brake system through the left chassis oil pipe 15 and the right chassis oil pipe 16 to complete the braking of the vehicle.

[0044] As described above, the unmanned vehicle of the present application can automatically complete service braking and parking according to a preset path (target path information). Service braking is completed by adding a brake assist valve 6 through the cooperation of the entire hydraulic system. When service braking is required, the vehicle controller will transmit a control signal to the brake assist valve 6 according to the target path information. When the brake assist valve 6 receives the control signal (braking information) sent by the controller, the hydraulic oil of the vehicle enters from the two first oil inlets of the brake assist valve 6, and is respectively delivered to the chassis brake system through the left chassis oil pipe 15 and the right chassis oil pipe 16 to complete the braking of the vehicle.

[0045] Further, in the embodiment of the present application, the unmanned vehicle of the present application further includes a position sensor 24. When the brake assist valve 6 receives the brake information sent from the controller, the position sensor 24 obtains the actual position of the vehicle in real time, and compares the obtained actual position with the target position. The brake assist valve 6 adjusts the oil pressure entering the left chassis oil pipe 15 and the right chassis oil pipe 16 in real time according to the received comparison information to adjust the braking speed of the vehicle.

[0046] In this embodiment, the service brake transmits the information obtained by the sensor to the brake auxiliary valve 6 according to the distance to the destination, and the brake auxiliary valve 6 acts on the brake system of the chassis to perform service brake. The actual position obtained by the position sensor 24 is compared with the set position to determine whether the whole machine has reached the predetermined position. The input signal of the brake auxiliary valve 6 is adjusted in real time, and then the oil pressure from the brake auxiliary valve 6 to the left chassis oil pipe 15 and the right chassis oil pipe 16 is adjusted to adjust the braking speed of the whole vehicle, so as to reach the predetermined position.

[0047] In this embodiment, the unmanned vehicle further includes a second angle sensor 26, a speed sensor 27 and a parking brake 17 (similar to a hand brake). When the vehicle reaches the target position, the second angle sensor 26 obtains the slope angle of the vehicle and compares the obtained slope angle with the target slope angle; if the obtained slope angle is less than the target slope angle, and the value of the speed sensor 27 is zero within a certain time range, the controller sends a parking signal to the parking brake 17 to complete the vehicle braking; if the obtained slope angle is greater than the target slope angle, the control signal is continuously input to the brake auxiliary valve 6, and the brake auxiliary valve 6 continuously delivers hydraulic oil to the chassis brake system through the left chassis oil pipe 15 and the right chassis oil pipe 16 respectively, to maintain the braking state of the whole vehicle, and the parking brake 17 no longer works.

[0048] Furthermore, the unmanned vehicle further includes an accumulator 4 and a brake pump 5. The two first oil outlets of the accumulator 4 are respectively connected to the two first oil inlets of the brake assisting valve 6 through the first connecting pipe 11 and the second connecting pipe 12; the second oil outlet of the accumulator 4 is connected to the oil inlet of the brake pump 5; the brake assisting valve 6 further includes two second oil inlets, the two second oil inlets of the brake assisting valve 6 are respectively connected to the two oil outlets thereof, and the two oil outlets of the brake pump 5 are respectively connected to the two second oil inlets of the brake assisting valve 6 through the left brake oil pipe 13 and the right brake oil pipe 14.

[0049] Specifically, when the unmanned vehicle needs manual braking, the foot steps on the brake pump 5, and the hydraulic oil of the vehicle can enter the brake pump 5 and the brake auxiliary valve 6 in sequence through the accumulator 4, adjust the oil pressure from the brake auxiliary valve 6 to the left chassis oil pipe 15 and the right chassis oil pipe 16, and adjust the braking speed of the whole vehicle to reach the predetermined position. When the unmanned vehicle is unmanned and automatically driving (unmanned automatic braking), the hydraulic oil of the vehicle can enter the brake auxiliary valve 6 through the accumulator 4, and the brake auxiliary valve 6 adjusts the oil pressure from the brake auxiliary valve 6 to the left chassis oil pipe 15 and the right chassis oil pipe 16, and adjusts the braking speed of the whole vehicle to reach the predetermined position.

[0050] In the embodiment of the present application, the unmanned vehicle further comprises a chassis 23 and a front fixing plate 21 of the cab. The brake auxiliary valve 6 is fixed on the chassis 23, and the accumulator 4 and the brake pump 5 are both fixed on the front fixing plate 21 of the cab.

[0051] In summary, the unmanned vehicle of the present application may be an unmanned tractor.

[0052] The control method for steering, braking and parking of the unmanned tractor of the present application adds a closed-core control valve 1 and connects the closed-core control valve 1 and the steering gear 2 in parallel through an oil circuit. When the closed-core control valve receives a steering control signal input, the closed-core control valve controls the opening of its two oil outlets to control the oil volume in the front axle cylinder to achieve steering. The first angle sensor 18 of the front axle 3 will send back the steering angle and compare it with the target path angle to determine whether the steering meets the requirements or make adjustments.

[0053] The active braking method mainly connects the brake assist valve 6 and the brake pump 5 in series. After receiving the brake signal, the brake assist valve 6 will supply oil to the chassis brake system for braking. The set destination is compared with the current position through the position sensor 24, so as to adjust the brake signal input to achieve the braking purpose.

[0054] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that any technician familiar with this technical field can still modify the technical solutions recorded in the aforementioned embodiments within the technical scope disclosed in the present application, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be covered by the protection scope of the present application.

Claims

1. An unmanned vehicle, characterized in that: The unmanned vehicle comprises a control valve, a front axle plunger cylinder and a controller; The control valve comprises an oil inlet and two oil outlets, and the two oil outlets of the control valve are connected to the two oil chambers of the front axle plunger cylinder through the left front axle oil pipe and the right front axle oil pipe respectively; The controller pre-stores target path information. When the control valve receives steering information sent from the controller, the vehicle's hydraulic oil enters through the oil inlet of the control valve, and the control valve adjusts the opening of its two oil outlets according to the received steering information to complete the steering of the vehicle.

2. The unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle also includes a priority valve and a steering gear; One of the oil outlets of the priority valve is connected to the oil inlet of the control valve, and the other oil outlet of the priority valve is connected to the oil inlet of the steering gear; The two oil outlets of the steering gear are connected to the left front axle oil pipe and the right front axle oil pipe respectively through two intermediate pipes; The hydraulic oil of the vehicle can enter the control valve or the steering gear via the priority valve.

3. The unmanned vehicle according to claim 2, characterized in that: The unmanned vehicle further includes a first angle sensor; When the control valve receives the steering information sent by the controller, the first angle sensor obtains the steering angle of the vehicle in real time, and compares the obtained steering angle with the target steering angle. The control valve corrects the opening of its two oil outlets in real time according to the received comparison information, thereby correcting the steering angle of the vehicle. When the steering angle of the vehicle is consistent with the target steering angle, the control valve adjusts the openings of its two oil outlets to be the same.

4. The unmanned vehicle according to claim 3, characterized in that: The unmanned vehicle also includes a transfer valve, a chassis, a front fixing plate of the cab and a front axle; The first angle sensor is fixed on the front axle to obtain the steering angle of the front axle; The control valve, the priority valve and the transfer valve are all fixed on the chassis, and the steering gear is fixed on the front fixed plate of the cab; One of the oil outlets of the priority valve is connected to the oil inlet of the switching valve through a steering pipe, and the oil outlet of the switching valve is connected to the oil inlet of the control valve through a control valve oil inlet pipe.

5. The unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle also includes a brake assist valve and a chassis brake system; The brake assisting valve comprises two first oil inlets and two oil outlets, and the two first oil inlets of the brake assisting valve are respectively connected to the two oil outlets thereof; The two oil outlets of the brake auxiliary valve are connected to the chassis brake system through the left chassis oil pipe and the right chassis oil pipe respectively; When the brake assist valve receives the brake information sent from the controller, the hydraulic oil of the vehicle enters through the two first oil inlets of the brake assist valve and is respectively transported to the chassis brake system through the left chassis oil pipe and the right chassis oil pipe to complete the braking of the vehicle.

6. The unmanned vehicle according to claim 5, characterized in that: The unmanned vehicle also includes an accumulator and a brake pump; The two first oil outlets of the accumulator are connected to the two first oil inlets of the brake auxiliary valve through a first connecting pipe and a second connecting pipe respectively; The second oil outlet of the accumulator is connected to the oil inlet of the brake pump, and the two oil outlets of the brake pump are connected to the left chassis oil pipe and the right chassis oil pipe through the left brake oil pipe and the right brake oil pipe respectively; The hydraulic oil of the vehicle can enter the brake pump or the brake assist valve via the accumulator.

7. The unmanned vehicle according to claim 5, characterized in that: The unmanned vehicle also includes a position sensor; When the brake assist valve receives the brake information sent from the controller, the position sensor obtains the actual position of the vehicle in real time and compares the actual position with the target position. The brake assist valve adjusts the oil pressure entering the left chassis oil pipe and the right chassis oil pipe in real time according to the received comparison information to adjust the braking speed of the vehicle.

8. The unmanned vehicle according to claim 5, characterized in that: The unmanned vehicle further comprises a second angle sensor, a speed sensor and a parking brake; When the vehicle reaches the target position, the second angle sensor obtains the slope angle of the vehicle and compares the obtained slope angle with the target slope angle; if the obtained slope angle is less than the target slope angle and the speed sensor has a value of zero within a certain time range, the controller sends a parking signal to the parking brake to complete vehicle braking; if the obtained slope angle is greater than the target slope angle, the brake auxiliary valve continues to supply hydraulic oil to the chassis braking system through the left chassis oil pipe and the right chassis oil pipe respectively.

9. The unmanned vehicle according to claim 6, characterized in that: The unmanned vehicle also includes a chassis and a front fixing plate of the cab; The brake auxiliary valve is fixed on the chassis, and the accumulator and the brake pump are both fixed on the front fixing plate of the cab; The brake assist valve also includes two second oil inlets, which are respectively connected to its two oil outlets, and the two oil outlets of the brake pump are respectively connected to the two second oil inlets of the brake assist valve through a left brake oil pipe and a right brake oil pipe.

10. The unmanned vehicle according to any one of claims 1 to 9, characterized in that: The unmanned vehicle is an unmanned tractor.

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