The invention discloses an agricultural machine and an automatic driving control method and system thereof. The automatic driving control method comprises the following steps: acquiring a theoretical target steering angle and a theoretical current steering angle of the agricultural machine; calculating an understeering coefficient of the agricultural machine in the current driving process; calculating a current actual target steering angle of the agricultural machine according to the theoretical target steering angle and the steering insufficiency coefficient; calculating an actual current steering angle of the agricultural machine according to the theoretical current steering angle and the steering insufficiency coefficient; acquiring a target steering angle of the electric steering wheel according to the actual current steering angle and the actual target steering angle; and controlling the agricultural machine to move according to the target steering angle of the electric steering wheel. According to the method, the transverse control parameters can be dynamically adjusted according to the current insufficient steering state of the agricultural machine, and a better control effect is achieved under the conditions that the ground is uneven in dryness, humidity and hardness, the vehicle load change is large and the steering performance is unstable.
本申请公开了一种农用机械及其自动驾驶控制方法、系统,自动驾驶控制方法包括步骤:获取农用机械的理论目标转向角度和理论当前转向角度;计算农用机械在当前行驶过程中的转向不足系数;根据理论目标转向角度和转向不足系数计算农用机械当前的实际目标转向角度;根据理论当前转向角度和转向不足系数计算农用机械的实际当前转向角度;根据实际当前转向角度和实际目标转向角度获取电动方向盘的目标转向角度;根据电动方向盘的目标转向角度控制农用机械进行运动。本申请可以根据农用机械当前转向不足状态,动态调整横向控制参数,在地面干湿软硬不均、车辆负载变化较大、转向表现不稳定的情况下,具有更好的控制效果。
Agricultural machine and automatic driving control method and system thereof
农用机械及其自动驾驶控制方法、系统
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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