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

    本发明公开了一种基于北斗定位的农机自动驾驶系统关键技术研发,其特征在于,该方法的具体步骤如下:S1:根据泊车的初始点和终点制定泊车的初始路径,并在初始路径上选取核心坐标,所述核心坐标设置为一个以上;S2:根据初始路径选取轨迹函数;S3:将核心坐标及泊车的初始点和终点的曲率信息作为轨迹函数的输入值,计算出轨迹规划的控制点,并将该控制点作为变量初始值;S4:制定目标函数、约束条件和变量取值范围,并根据目标函数、约束条件、变量取值范围和变量初始值进行序列的二次规划,得到优化后的轨迹函数的最优解;S5:根据最优解绘制泊车轨迹的最终轨迹函数,该最终轨迹函数为泊车的轨迹曲线。


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    Title :

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


    Additional title:

    基于北斗定位的农机自动驾驶系统关键技术研发


    Contributors:
    CUI YUNXIN (author) / CAO CHENG (author) / CUI ZHENG (author) / LIU XIN (author) / ZHANG YUNYUN (author) / LUO WEIHONG (author) / AO QIUGEN (author) / XUAN HAN'EN (author)

    Publication date :

    2021-01-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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