Vehicle row control method and device, electronic equipment and storage medium

Abstract

The invention provides a row control method and device of a vehicle, electronic equipment and a storage medium. The row control method comprises the steps of obtaining a first curve ridge row direction of a target crop ridge row; based on the first curve ridge row direction, determining a first adjustment included angle between the first curve ridge row direction and a vehicle driving wheel; acquiring a first distance between the current vehicle and the first curve; based on the current vehicle speed of the vehicle, the first distance and a first correction coefficient, determining first time required for adjusting a vehicle driving wheel to the ridge row direction of the first curve; and on the basis of the first adjustment included angle and the first time, a vehicle electromagnetic valve is adjusted, so that vehicle driving wheels are adjusted to the first curve ridge row direction. According to the technical scheme, automatic row alignment of the vehicle in the ridge row direction is achieved, and the driving accuracy of the vehicle in the operation process is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering technology, and in particular to a vehicle steering control method, device, electronic device and storage medium. Background Art

[0002] In agricultural production, when harvesters are harvesting, the driver needs to visually ensure that the divider is accurately aligned with the ridge. The efficiency and quality of the harvesting operation largely depends on the accuracy of the driver's row operation, which requires the driver to maintain a high level of concentration throughout the operation. When the driver needs to continue harvesting for a long time, especially in poor visibility at night, this high level of concentration will greatly consume the driver's energy. At the same time, it will also bring many safety risks to the operation process. At present, automatic row alignment technology is widely used in harvester operations. Automatic row alignment sensors are used to identify the deviation of the vehicle during movement, and then assist in controlling the vehicle to automatically adjust the direction of movement.

[0003] However, in actual operation, when plants are out of position, the automatic row-aligning system will frequently adjust the vehicle's steering, which will have an adverse effect on the service life of the steering system. In particular, when the single row is missing seedlings for too long or the vehicle is traveling at a high speed, the mechanical structure is difficult to correct in a short time, resulting in the inability to use the automatic row-aligning technology normally. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a vehicle steering control method, device, electronic device and storage medium. The present application realizes automatic steering of the vehicle in the direction of ridge movement, thereby improving the driving accuracy of the vehicle during operation.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, the vehicle control method comprising:

[0007] Obtain the first bend direction of the target crop row;

[0008] Based on the first curve running direction, determining a first adjustment angle between the first curve running direction and the vehicle driving wheel;

[0009] Acquire a first distance between the current vehicle and the first curve;

[0010] Determining a first time required to adjust the vehicle driving wheels to the first curve ridge direction based on the current vehicle speed, the first distance and the first correction coefficient;

[0011] Based on the first adjustment angle and the first time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the first curve driving direction.

[0012] Preferably, the determining, based on the first curve running direction, a first adjustment angle between the first curve running direction and a vehicle driving wheel includes:

[0013] Determine the driving wheel angle between the vehicle driving wheel and the vehicle body;

[0014] Determine the first curve running direction and the first curve angle of the vehicle body;

[0015] The sum of the driving wheel angle and the first curve angle is determined as the first adjustment angle between the first curve running direction and the vehicle driving wheel.

[0016] Preferably, the row control method further includes:

[0017] Obtain the direction of the second bend of the target crop row;

[0018] Based on the second curve running direction, determining a second adjustment angle between the second curve running direction and the vehicle driving wheel;

[0019] Acquire a second distance between the first curve and the second curve;

[0020] Based on the second distance, determine whether the second distance is less than a preset distance, and based on the determination result, adjust the vehicle solenoid valve to adjust the vehicle drive wheel to the second curve running direction.

[0021] Preferably, adjusting the vehicle solenoid valve based on the determination result so as to adjust the vehicle driving wheel to the second curve running direction includes:

[0022] If the second distance is less than the preset distance, determining a second time required to adjust the vehicle driving wheels to the ridge direction based on the current vehicle speed, the second distance and the second correction coefficient;

[0023] Based on the second adjustment angle and the second time, adjusting the vehicle solenoid valve to adjust the vehicle driving wheel to the second curve running direction;

[0024] If the second distance is greater than a preset distance, determining a third time required to adjust the vehicle driving wheels to the second curve ridge direction based on the current vehicle speed, the second distance and the first correction coefficient;

[0025] Based on the second adjustment angle and the third time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the second curve running direction.

[0026] In a second aspect, an embodiment of the present application further provides a vehicle control device for controlling a vehicle, the vehicle control device comprising:

[0027] A first row acquisition module, which acquires the first curved row direction of the target crop row;

[0028] A first adjustment angle calculation module determines a first adjustment angle between the first curve direction and the vehicle driving wheel based on the first curve direction;

[0029] A first distance acquisition module, acquiring a first distance between the current vehicle and the first curve;

[0030] A first time calculation module determines a first time required to adjust the vehicle driving wheels to the first curve ridge direction based on the current vehicle speed, the first distance and a first correction coefficient;

[0031] The first solenoid valve control module adjusts the vehicle solenoid valve based on the first adjustment angle and the first time to adjust the vehicle drive wheels to the first curve driving direction.

[0032] Preferably, the first adjustment angle calculation module is specifically used for:

[0033] Determine the driving wheel angle between the vehicle driving wheel and the vehicle body;

[0034] Determine the first curve running direction and the first curve angle of the vehicle body;

[0035] The sum of the driving wheel angle and the first curve angle is determined as the first adjustment angle between the first curve running direction and the vehicle driving wheel.

[0036] Preferably, the row control device further comprises:

[0037] A second row acquisition module is used to acquire the second curved row direction of the target crop row;

[0038] A second adjustment angle calculation module determines a second adjustment angle between the second curve direction and the vehicle driving wheel based on the second curve direction;

[0039] A second distance acquisition module, acquiring a second distance between the first bend and the second bend;

[0040] The second solenoid valve control module determines, based on the second distance, whether the second distance is less than a preset distance, and adjusts the vehicle solenoid valve based on the determination result so that the vehicle drive wheels are adjusted to the second curve running direction.

[0041] Preferably, the second solenoid valve control module is specifically used for:

[0042] If the second distance is less than the preset distance, determining a second time required to adjust the vehicle driving wheels to the ridge direction based on the current vehicle speed, the second distance and the second correction coefficient;

[0043] Based on the second adjustment angle and the second time, adjusting the vehicle solenoid valve to adjust the vehicle driving wheel to the second curve running direction;

[0044] If the second distance is greater than a preset distance, determining a third time required to adjust the vehicle driving wheels to the second curve ridge direction based on the current vehicle speed, the second distance and the first correction coefficient;

[0045] Based on the second adjustment angle and the third time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the second curve running direction.

[0046] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle traffic control method described in the first aspect or any possible implementation manner of the first aspect.

[0047] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of controlling the movement of the vehicle as described in the first aspect or any possible implementation manner of the first aspect are executed.

[0048] The embodiment of the present application provides a vehicle alignment control method, device, electronic device and storage medium. The present application first obtains the first curved ridge direction of the target crop ridge, then determines the first adjustment angle between the ridge direction and the vehicle drive wheel, and simultaneously obtains the first distance between the current vehicle and the first curve, and then calculates the first time required to adjust the vehicle drive wheel to the first curved ridge direction based on the current vehicle speed, the first distance and the first correction coefficient, and finally adjusts the vehicle solenoid valve according to the first adjustment angle and the first time, so that the vehicle drive wheel is adjusted to the first curved ridge direction. In this way, the present application realizes the automatic alignment of the vehicle according to the ridge direction, and improves the driving accuracy of the vehicle during operation.

[0049] 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

[0050] 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.

[0051] Figure 1 One of the flow charts of a vehicle traffic control method provided by an embodiment of the present application is shown;

[0052] Figure 2 An example diagram of a vehicle traveling provided by an embodiment of the present application is shown;

[0053] Figure 3 A second flowchart of a vehicle traffic control method provided in an embodiment of the present application is shown;

[0054] Figure 4 One of the structural schematic diagrams of a vehicle traffic control device provided in an embodiment of the present application is shown;

[0055] Figure 5 A second structural schematic diagram of a vehicle traffic control device provided in an embodiment of the present application is shown;

[0056] Figure 6 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0057] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0058] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0059] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring vehicle steering. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the vehicle steering control method and device provided by the embodiments of the present application is within the protection scope of the present application.

[0060] It is worth noting that before the present application was proposed, in the existing scheme, in agricultural production, when the harvesting machinery was performing harvesting operations, the driver needed to visually ensure that the divider was accurately aligned with the ridge row. The efficiency and quality of the harvesting operation depend to a large extent on the accuracy of the driver's row operation, which requires the driver to maintain a high degree of concentration throughout the operation. When the driver needs to continue harvesting operations for a long time, especially in an environment with poor visibility at night, this highly focused state will greatly consume the driver's energy. At the same time, it will also bring many safety risks to the operation process. At present, automatic row technology is widely used in harvester operations. Automatic row sensors are used to identify the offset of the vehicle during the walking process, and then assist in controlling the vehicle to automatically adjust the walking direction. However, in actual operations, when the plant is out of position, the automatic row system will frequently adjust the vehicle steering, which will have an adverse effect on the service life of the steering system. Especially when the single row seedling shortage is too long or the vehicle is traveling at a high speed, it is difficult for the mechanical structure to complete the correction in a short time, resulting in the inability to use the automatic row technology normally.

[0061] In response to the above problems, the embodiments of the present application provide a vehicle steering control method, device, electronic device and storage medium, which enable the vehicle to automatically steer in the direction of the ridge and improve the driving accuracy of the vehicle during operation.

[0062] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0063] See also Figure 1 , Figure 1 One of the flow charts of a vehicle traffic control method provided in an embodiment of the present application.

[0064] In the existing field of automatic row-aligning technology, the commonly used method is to install a row-aligning sensor at the front end of the vehicle's crop divider. When the vehicle is in a forward state, the left and right rocker arms collide with the target crops to calculate the direction angle that the vehicle needs to adjust, thereby realizing the automatic row-aligning function. However, in actual application scenarios, this technology has certain limitations. When the vehicle speed exceeds 12 kilometers per hour and the length of a single row of missing seedlings is too long during actual operation, this automatic row-aligning technology will not work properly. In addition, in actual operation, due to the need for frequent steering adjustments, this will have an adverse effect on the service life of the system to a certain extent.

[0065] like Figure 1 As shown in the figure, the vehicle control method provided by the embodiment of the present application includes the following steps:

[0066] Step S101, obtaining the first curved row direction of the target crop row.

[0067] Here, crops may include but are not limited to: corn, wheat and soybeans. As an example, the first bend ridge direction is as follows Figure 2 as shown in .

[0068] In the embodiment of the present application, before obtaining the first curved ridge direction of the target crop ridge, the vehicle row control method further includes the following steps: first, the system is initialized and set to prepare for subsequent operation. Then, it is determined whether it is necessary to read the program calibration constant from the EEP (Electrically Erasable Programmable Read-Only Memory). If it is necessary to read the program calibration constant from the EEP, the value in the EEP is read and assigned to the program calibration constant; if it is not necessary to read the program calibration constant from the EEP, the default value is used.

[0069] In an embodiment of the present application, after obtaining the first curved ridge direction of the target crop ridge, the vehicle's row control method further includes the following steps: First, determine whether there is a fault in the system after signal processing. If there is a fault, report an error and turn off the function; if there is no fault, proceed to the next step of judgment. Then, check whether there are conditions that will inhibit the system's automatic row function. If there is an inhibition condition, the automatic row function is automatically exited and turned off; if there is no inhibition condition, continue to perform calculations related to automatic row. As an example, the inhibition condition includes: whether the steering angle exceeds the preset steering angle and whether the vehicle is braking. In this application, the preset steering angle is set to 20°. Finally, determine whether the automatic row function has been turned on. If it is turned on, perform the following series of calculations and adjustments.

[0070] Step S102: determining a first adjustment angle between the first curve running direction and the vehicle driving wheel based on the first curve running direction.

[0071] Regarding step S102, in specific implementation, as an example, the following steps may be included:

[0072] First, determine the driving wheel angle between the vehicle driving wheel and the vehicle body. Here, when the vehicle driving wheel is on the left side of the vehicle body, the driving wheel angle is positive; when the vehicle driving wheel is on the right side of the vehicle body, the driving wheel angle is negative. In this application, as an example, a wheel angle sensor is provided between the vehicle driving wheel and the vehicle transverse axis to detect the driving wheel angle γ between the vehicle driving wheel and the vehicle body.

[0073] Then, the first curve ridge direction and the first curve angle of the vehicle body are determined. Here, when the ridge direction is set to the left side of the vehicle body, the curve angle is negative; when the ridge direction is on the right side of the vehicle body, the curve angle is positive. In the present application, as an example, a camera integrated machine is arranged above the front windshield of the vehicle to detect the first curve ridge direction and the first curve angle α of the vehicle body. The camera integrated machine is equipped with a camera and an algorithm processing function. In the actual operation process, the field conditions to be harvested in front can be collected in real time. Through the built-in recognition algorithm, the camera integrated machine can identify the three ridges located in the middle of the plot and calculate the difference between the ridge direction and the vehicle driving wheel. At the same time, it can also identify the specific number of curves within a certain distance range in front, as well as the actual distances of the first curve and the second curve from the current vehicle, and can also identify the angle formed by the direction of the first curve in front relative to the vehicle body, as well as the distance of the second curve relative to the first curve and the curve ridge angle between the two. After completing the recognition and calculation of the above data, the camera-in-one machine sends the relevant signals to the automatic alignment controller to provide reliable data support for subsequent automated operations.

[0074] Finally, the sum of the driving wheel angle and the first curve angle is determined as the first adjustment angle between the first curve running direction and the vehicle driving wheel. Here, the first adjustment angle Angle = α + γ. In the present application, when the first adjustment angle Angle is less than the preset angle range, the steering angle is not adjusted to prevent the vehicle's driving wheels from constantly moving slightly. Combined with actual experience, the preset angle range is greater than -3° and less than 3°. The preset angle range can also be set according to other actual experience and is not limited here.

[0075] Step S103, obtaining a first distance between the current vehicle and the first curve. Here, as an example, Figure 2 As shown, A is the first distance between the current vehicle and the first curve.

[0076] Step S104: determining a first time required to adjust the vehicle's driving wheels to the first curve running direction based on the vehicle's current speed, the first distance and a first correction coefficient.

[0077] Here, the first correction coefficient K is a coefficient related to the vehicle speed. Here, as an example, the first time Time required for the vehicle driving wheel to adjust to the first curve ridge direction = A / current vehicle speed-K×current vehicle speed, the first time Time changes in real time with the speed, and the first time Time is negatively correlated with the vehicle speed, that is, the greater the vehicle speed, the smaller the first time Time constant is.

[0078] Step S105: adjusting the vehicle solenoid valve based on the first adjustment angle and the first time so that the vehicle drive wheels are adjusted to the first curve running direction.

[0079] Here, the first adjustment angle Angle is used as the deviation of PID, and the first time Time is used as the adjustment time of PID. The control output calculated by PID is converted into the control current value of the corresponding vehicle solenoid valve. According to the range of the control current value and the PWM signal, the corresponding duty cycle is calculated, and the opening of the vehicle solenoid valve is adjusted according to the duty cycle to adjust the vehicle drive wheel to the first curve running direction.

[0080] See also Figure 3 , Figure 3 The present invention provides a second flowchart of a vehicle traffic control method provided in an embodiment of the present application.

[0081] like Figure 3 As shown in, in the present application, the vehicle's traffic control method further includes the following steps:

[0082] Step S201, obtaining the second curved row direction of the target crop row.

[0083] Step S202: determining a second adjustment angle between the second curve running direction and the vehicle driving wheel based on the second curve running direction.

[0084] Regarding step S202, in specific implementation, as an example, the following steps may be included:

[0085] First, after the vehicle passes the first curve, the driving wheel angle between the vehicle driving wheels and the vehicle body is determined.

[0086] Then, the second curve running direction and the second curve angle of the vehicle body are determined.

[0087] Finally, the sum of the driving wheel angle and the second curve angle is determined as the second adjustment angle between the second curve running direction and the vehicle driving wheel. Here, as an example, Figure 2 As shown in , the second adjustment angle is β, and the second adjustment angle Angle1 = α + β. .

[0088] Step S203: acquiring a second distance between the first curve and the second curve.

[0089] As an example, Figure 2 As shown in , the second distance between the first curve and the second curve is B.

[0090] Step S204: based on the second distance, determine whether the second distance is less than a preset distance, and based on the determination result, adjust the vehicle solenoid valve to adjust the vehicle drive wheel to the second curve running direction.

[0091] Regarding step S204, in specific implementation, as an example, the following steps may be included:

[0092] If the second distance is less than the preset distance, first, based on the current speed of the vehicle, the second distance and the second correction coefficient, the second time required to adjust the vehicle's driving wheels to the ridge direction is determined. Here, if the second distance is less than the preset distance, it means that the wheels need to be adjusted in a shorter time to complete the steering action when reaching the second curve. The second correction coefficient K1 is a coefficient related to the vehicle speed. As an example, the second time Time1 required for the vehicle's driving wheels to adjust to the second curve ridge direction = B / current vehicle speed-K1×current vehicle speed, and the second time Time1 changes in real time with the speed.

[0093] Then, based on the second adjustment angle and the second time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheel to the second curved ridge direction. Here, the second adjustment angle Angle1 is used as the PID deviation, and the second time Time1 is used as the PID adjustment time. The control output calculated by PID is converted into the corresponding control current value of the vehicle solenoid valve. According to the range of the control current value and the PWM signal, the corresponding duty cycle is calculated, and the opening of the vehicle solenoid valve is adjusted by the duty cycle to adjust the vehicle drive wheel to the second curved ridge direction.

[0094] If the second distance is greater than the preset distance, first, based on the current speed of the vehicle, the second distance and the first correction coefficient, the third time required to adjust the vehicle's drive wheels to the second curve running direction is determined. Here, it should be noted that when the second distance is greater than the preset distance, from the perspective of the driving adjustment strategy, the adjustment situation of the second curve is actually equivalent to the adjustment situation of the first curve. Therefore, the subsequent adjustment process will be carried out in accordance with the adjustment strategy corresponding to the first curve, so as to achieve the matching of the driving wheels and the running direction of the vehicle during the curve driving process, and ensure the stability of the vehicle driving and the accuracy of the operation.

[0095] Then, based on the second adjustment angle and the third time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheel to the second curved ridge direction. Here, the second adjustment angle Angle1 is used as the PID deviation, and the third time Time2 is used as the PID adjustment time. The control output calculated by PID is converted into the corresponding control current value of the vehicle solenoid valve. According to the range of the control current value and the PWM signal, the corresponding duty cycle is calculated, and the opening of the vehicle solenoid valve is adjusted by the duty cycle to adjust the vehicle drive wheel to the second curved ridge direction.

[0096] Additionally, the present application is also provided with a display screen for automatically calibrating system parameters and displaying status information.

[0097] In an embodiment of the present application, after the vehicle turns the first curve, if the second curve happens to be in the blind spot of the camera, then in this specific state, the relevant information of the first curve can be ignored and the vehicle can be adjusted accordingly according to the direction of the second curve.

[0098] This application uses a camera-in-one device to collect real-time field conditions ahead, identify ridge and curve information and calculate the difference with the current forward direction. Combined with the angle between the drive wheel and the vehicle body and the vehicle speed information obtained by the wheel angle sensor, the automatic row steering controller comprehensively calculates and determines the steering angle that the vehicle should adjust, and controls the steering proportional solenoid valve accordingly to enable the vehicle to automatically steer in the direction of the ridge.

[0099] An embodiment of the present application provides a vehicle steering control method, through which the vehicle can automatically steer in the direction of the ridge, thereby improving the driving accuracy of the vehicle during operation.

[0100] Based on the same application concept, the embodiments of the present application also provide a vehicle lane control device corresponding to the vehicle lane control method provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the vehicle lane control method in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0101] See also Figures 4 to 5 , Figure 4 This is one of the structural schematic diagrams of a vehicle traffic control device provided in an embodiment of the present application. Figure 5 This is a second structural schematic diagram of a vehicle traffic control device provided in an embodiment of the present application.

[0102] like Figure 4 As shown in , the vehicle's traffic control device 410 includes:

[0103] The first row acquisition module 411 acquires the first curved row direction of the target crop row;

[0104] A first adjustment angle calculation module 412 determines a first adjustment angle between the first curve direction and the vehicle driving wheel based on the first curve direction;

[0105] A first distance acquisition module 413 is configured to acquire a first distance between the current vehicle and the first curve;

[0106] A first time calculation module 414 determines a first time required to adjust the vehicle driving wheels to the first curve ridge direction based on the current vehicle speed, the first distance and the first correction coefficient;

[0107] The first solenoid valve control module 415 adjusts the vehicle solenoid valve based on the first adjustment angle and the first time, so that the vehicle driving wheels are adjusted to the first curve driving direction.

[0108] Preferably, the first adjustment angle calculation module 412 is specifically used for:

[0109] Determine the driving wheel angle between the vehicle driving wheel and the vehicle body;

[0110] Determine the first curve running direction and the first curve angle of the vehicle body;

[0111] The sum of the driving wheel angle and the first curve angle is determined as the first adjustment angle between the first curve running direction and the vehicle driving wheel.

[0112] like Figure 5 As shown in , preferably, the row control device 410 further includes:

[0113] The second row acquisition module 416 acquires the second curved row direction of the target crop row;

[0114] A second adjustment angle calculation module 417 determines a second adjustment angle between the second curve direction and the vehicle driving wheel based on the second curve direction;

[0115] A second distance acquisition module 418 is configured to acquire a second distance between the first curve and the second curve;

[0116] The second solenoid valve control module 419 determines whether the second distance is less than a preset distance based on the second distance, and adjusts the vehicle solenoid valve based on the determination result so that the vehicle drive wheels are adjusted to the second curve running direction.

[0117] Preferably, the second solenoid valve control module 419 is specifically used for:

[0118] If the second distance is less than the preset distance, determining a second time required to adjust the vehicle driving wheels to the ridge direction based on the current vehicle speed, the second distance and the second correction coefficient;

[0119] Based on the second adjustment angle and the second time, adjusting the vehicle solenoid valve to adjust the vehicle driving wheel to the second curve running direction;

[0120] If the second distance is greater than a preset distance, determining a third time required to adjust the vehicle driving wheels to the second curve ridge direction based on the current vehicle speed, the second distance and the first correction coefficient;

[0121] Based on the second adjustment angle and the third time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the second curve running direction.

[0122] An embodiment of the present application provides a vehicle alignment control device, through which the vehicle can automatically align its lane in the direction of the ridge, thereby improving the driving accuracy of the vehicle during operation.

[0123] See also Figure 6 , Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0124] like Figure 6 As shown in , the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0125] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figure 1 and Figure 3 The specific implementation of the steps of the vehicle traffic control method in the method embodiment shown can be found in the method embodiment, which will not be repeated here.

[0126] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned Figure 1 and Figure 3 The specific implementation of the steps of the vehicle traffic control method in the method embodiment shown can be found in the method embodiment, which will not be repeated here.

[0127] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0130] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0131] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The row control method comprises: Obtain the first bend direction of the target crop row; Based on the first curve running direction, determining a first adjustment angle between the first curve running direction and the vehicle driving wheel; Acquire a first distance between the current vehicle and the first curve; Determining a first time required to adjust the vehicle driving wheels to the first curve ridge direction based on the current vehicle speed, the first distance and the first correction coefficient; Based on the first adjustment angle and the first time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the first curve driving direction.

2. The row control method according to claim 1, characterized in that: The determining, based on the first curve running direction, a first adjustment angle between the first curve running direction and a driving wheel of the vehicle comprises: Determine the driving wheel angle between the vehicle driving wheel and the vehicle body; Determine the first curve running direction and the first curve angle of the vehicle body; The sum of the driving wheel angle and the first curve angle is determined as the first adjustment angle between the first curve running direction and the vehicle driving wheel.

3. The row control method according to claim 1, characterized in that: The row control method further includes: Obtain the direction of the second bend of the target crop row; Based on the second curve running direction, determining a second adjustment angle between the second curve running direction and the vehicle driving wheel; Acquire a second distance between the first curve and the second curve; Based on the second distance, determine whether the second distance is less than a preset distance, and based on the determination result, adjust the vehicle solenoid valve to adjust the vehicle drive wheel to the second curve running direction.

4. The row control method according to claim 3, characterized in that: The adjusting the vehicle solenoid valve based on the determination result so that the vehicle driving wheel is adjusted to the second curve ridge direction includes: If the second distance is less than the preset distance, determining a second time required to adjust the vehicle driving wheels to the ridge direction based on the current vehicle speed, the second distance and the second correction coefficient; Based on the second adjustment angle and the second time, adjusting the vehicle solenoid valve to adjust the vehicle driving wheel to the second curve running direction; If the second distance is greater than a preset distance, determining a third time required to adjust the vehicle driving wheels to the second curve ridge direction based on the current vehicle speed, the second distance and the first correction coefficient; Based on the second adjustment angle and the third time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the second curve running direction.

5. A vehicle control device, characterized in that: The row control device comprises: A first ridge acquisition module, which acquires the first curved ridge direction of the target crop ridge; A first adjustment angle calculation module determines a first adjustment angle between the first curve direction and the vehicle driving wheel based on the first curve direction; A first distance acquisition module, acquiring a first distance between the current vehicle and the first curve; A first time calculation module determines a first time required to adjust the vehicle driving wheels to the first curved ridge direction based on the current vehicle speed, the first distance and a first correction coefficient; The first solenoid valve control module adjusts the vehicle solenoid valve based on the first adjustment angle and the first time to adjust the vehicle drive wheels to the first curve driving direction.

6. The row control device according to claim 5, characterized in that: The first adjustment angle calculation module is specifically used for: Determine the driving wheel angle between the vehicle driving wheel and the vehicle body; Determine the first curve running direction and the first curve angle of the vehicle body; The sum of the driving wheel angle and the first curve angle is determined as the first adjustment angle between the first curve running direction and the vehicle driving wheel.

7. The row control device according to claim 5, characterized in that: The row control device also includes: A second row acquisition module is used to acquire the second curved row direction of the target crop row; A second adjustment angle calculation module determines a second adjustment angle between the second curve direction and the vehicle driving wheel based on the second curve direction; A second distance acquisition module, acquiring a second distance between the first bend and the second bend; The second solenoid valve control module determines, based on the second distance, whether the second distance is less than a preset distance, and adjusts the vehicle solenoid valve based on the determination result so that the vehicle drive wheels are adjusted to the second curve running direction.

8. The row control device according to claim 7, characterized in that: The second solenoid valve control module is specifically used for: If the second distance is less than the preset distance, determining a second time required to adjust the vehicle driving wheels to the ridge direction based on the current vehicle speed, the second distance and the second correction coefficient; Based on the second adjustment angle and the second time, adjusting the vehicle solenoid valve to adjust the vehicle driving wheel to the second curve running direction; If the second distance is greater than a preset distance, determining a third time required to adjust the vehicle driving wheels to the second curve ridge direction based on the current vehicle speed, the second distance and the first correction coefficient; Based on the second adjustment angle and the third time, the vehicle solenoid valve is adjusted to adjust the vehicle drive wheels to the second curve running direction.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle traffic control method as claimed in any one of claims 1 to 4 are executed.

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