The invention provides an unmanned tractor control method. The unmanned tractor control method comprises the following steps that S1, an environment sensing module obtains vehicle position informationand environment information; S2, a decision control module plans an advancing path and a target advancing speed according to the environment information and the vehicle position information; and S3,the decision control module performs speed control according to the target advancing speed, and meanwhile, the decision control module performs steering control according to the advancing path and thevehicle position information. According to the unmanned tractor control method, firstly, the advancing route is planned according to the vehicle position information and the environment information,and then steering control and speed control are conducted on the vehicle based on the advancing route and the target advancing speed, so that the unmanned tractor can work at a safer running speed anda more accurate running route in a complex environment; and the autonomous operation capability of the unmanned tractor in a complex environment is improved.

    本发明提供了一种无人拖拉机控制方法,包括以下步骤:S1、环境感知模块获取车辆位置信息和环境信息;S2、决策控制模块根据环境信息和车辆位置信息规划行进路径和目标行进速度;S3、决策控制模块根据目标行进速度进行速度控制,同时决策控制模块根据行进路径和车辆位置信息进行转向控制。这种无人拖拉机控制方法先根据车辆位置信息和环境信息规划行进路线,再基于行进路线和目标行进速度对车辆进行转向控制和速度控制,使无人拖拉机在复杂环境下能够以更加安全的行驶速度和更加精准的行驶路线工作,提高了无人拖拉机在复杂环境下的自主作业能力。


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    Title :

    Unmanned tractor control system and control method thereof


    Additional title:

    一种无人拖拉机控制系统及其控制方法


    Contributors:
    LU FENGXIANG (author) / REN HAIYONG (author) / LU XIAOZHENG (author)

    Publication date :

    2021-02-02


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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