CN113467460B - Agricultural machine path tracking method and system based on double-circular forward looking distance - Google Patents

Agricultural machine path tracking method and system based on double-circular forward looking distance Download PDF

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CN113467460B
CN113467460B CN202110779238.9A CN202110779238A CN113467460B CN 113467460 B CN113467460 B CN 113467460B CN 202110779238 A CN202110779238 A CN 202110779238A CN 113467460 B CN113467460 B CN 113467460B
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path
circular
steer
agricultural machine
rotation angle
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CN113467460A (en
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崔冰波
孙宇
吉峰
魏新华
卢泽民
王爱臣
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Jiangsu University
Changzhou Engineering and Technology Institute of Jiangsu University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The invention provides an agricultural machine path tracking method and system based on double-circular forward looking distance, and belongs to the field of intelligent agricultural machines. The invention is specifically as follows: the feedforward controller constructs a feedforward expected corner based on a path point of a planned path, and the feedback controller calculates navigation deviation based on a circular forward looking distance and calculates the expected corner by adopting a PID algorithm; based on the feedforward expected corner and the expected corner, a path tracking corner is obtained, the navigation controller obtains the expected corner according to the path tracking corner, and then the current corner of the agricultural machine is combined to control the electric steering wheel, so that the path tracking of the agricultural machine is realized. The invention solves the problem of constant transverse deviation of the straight line forward looking distance in curve path tracking, and reduces steady state error of path tracking.

Description

Agricultural machine path tracking method and system based on double-circular forward looking distance
Technical Field
The invention belongs to the field of intelligent agricultural machinery, and particularly relates to an agricultural machinery path tracking method and system based on double-circular forward looking distance.
Background
The agricultural machine path tracking is an important part of an automatic driving system, and the path tracking method based on the pure tracking model has the characteristic of no modeling, has higher precision in the agricultural machine linear path tracking, is influenced by the front viewpoint distance and the path curvature, and has the precision in turning around to be further improved. With the increasingly evident application occasions and operation efficiency limitations of unmanned agricultural machinery, the problem that a pure tracking algorithm has high requirements on forward looking distance is urgently solved. In order to realize automatic driving of the whole field agricultural machinery, the forward sight distance needs to be dynamically adjusted according to the curvature of the path and the speed of the vehicle, and researchers sequentially propose a forward sight distance dynamic adjustment method based on fuzzy logic and a neural network, but the implementation is difficult and the application effect is poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an agricultural machine path tracking method and system based on double circular forward looking distance, which solve the lateral deviation offset caused by the linear forward looking distance based on circular forward looking track, and realize the high-precision path tracking during the automatic turning around and fast linear running of the agricultural machine.
The present invention achieves the above technical object by the following means.
An agricultural machine path tracking method based on double-circular forward looking distance specifically comprises the following steps:
the feedforward controller constructs a feedforward desired rotation angle delta based on a path point of the planned path FF_steer The method comprises the steps of carrying out a first treatment on the surface of the Feedback controller calculates navigation deviation D based on circular forward looking distance os And calculates the expected rotation angle delta by adopting a PID algorithm FB_steer The method comprises the steps of carrying out a first treatment on the surface of the The said Wherein K is p 、K d 、K i Corresponding coefficients for the navigation error term;
desired rotation angle delta based on feedforward FF_steer Desired rotation angle delta FB_steer Obtaining the path tracking rotation angle delta steer ＝δ FF_steer +δ FB_steer ；
The navigation controller tracks the corner according to the path to obtain the expected cornerThen the current turning angle of the agricultural machine is combined to control the electric steering wheel, so that the path tracking of the agricultural machine is realized; wherein a and b are weight coefficients corresponding to the angular velocity and the angle respectively.
Further, the feedforward controller constructs a feedforward desired rotation angle delta based on the path point of the planned path FFsteer The method specifically comprises the following steps:
under the Gaussian plane coordinate system, three path points A (x a ，y a )、B(x b ，y b )、C(x c ，y c ) The center coordinates (X ff ，Y ff ) And radius R ff And according to the agricultural machinery wheelbase L JK And radius R ff Calculating the feedforward desired rotation angle delta FF_steer ＝arctan(L JK /R ff )。
Further, the center coordinates (X ff ，Y ff ) The calculation process is as follows:
let the slope of line segment AB be k 1 Slope of line segment BC is k 2 The following steps are:
further, the feedback controller calculates the navigation deviation D based on the circular forward looking distance os The method specifically comprises the following steps:
assuming that the current moment agricultural machine steering angle is available for the next updated moment, a predicted circular path S is constructed based on the current moment agricultural machine steering angle pre The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the expected circular path S at the next moment based on the current agricultural machinery position M and the path point A, B on the planned path des The method comprises the steps of carrying out a first treatment on the surface of the With current position of agricultural machinery (X C ，Y C ) As the center of a circle and as the radiusConstruction of circular trajectories S veh_1 、S veh_2 The circular track S veh_1 、S veh_2 Respectively with the path S pre 、S des Intersecting at two points (X 1_1 ，Y 1_1 )、(X 1_2 ，Y 1_2 ) And (X) 2_1 ，Y 2_1 )、(X 2_2 ，Y 2_2 ) Then there is a navigation bias:
and has D os ＝m D os_1 +n D os_2 M and n are respectively circular tracks S vel_1 、S vel_2 And calculating the weight coefficient of the navigation deviation.
Still further, the construction predicts a circular path S pre The method specifically comprises the following steps:
design (X) cp ，Y cp )、R cp Respectively S pre Center and radius of the circle;
wherein θ is the agricultural machine heading angle.
Further, the intersection point (X 1_1 ，Y 1_1 )、(X 1_2 ，Y 1_2 ) The calculation formula of (2) is as follows:
X 1_1 ＝X c +a1(X cp -X c )/L±b1(Y cp -Y c )/L
X 1_2 ＝X c +a2(X cp -X c )/T±b2(Y cp -Y c )/T
wherein: intermediate quantity
Still further, the desired circular path S des The method specifically comprises the following steps:
design (X) dp ，Y dp )、R dp Respectively the desired circular paths S des Is the center and radius of the desired path, and three path points are recorded as M (X C ，Y C )、A(x a ，y a )、B(x b ，y b ) Wherein A is the next path point to the nearest path point to the current agricultural machinery position; then:
wherein k is 3 Is the slope of line segment MA.
Further, the intersection point (X 2_1 ，Y 2_1 )、(X 2_2 ，Y 2_2 ) The calculation formula of (2) is as follows:
X 2_1 ＝X c +a1 ～ (X cp -X c )/L±b1 ～ (Y cp -Y c )/L
X 2_2 ＝X c +a2 ～ (X cp -X c )/T±b2 ～ (Y cp -Y c )/T
wherein: intermediate quantity
An agricultural machine path tracking system based on double circular forward looking distance, comprising:
the RTK positioning module is used for acquiring geographic information and generating navigation path points;
the feedforward controller decides a feedforward expected rotation angle delta according to the path point FF_steer ；
Feedback controller for calculating feedback expected rotation angle delta according to forward looking circular distance FB_steer ；
Speed sensor for measuring speed of agricultural machinery and setting navigation deviation D calculated by feedback controller os_1 、D os_2 A weight coefficient;
navigation controller for receiving feedforward rotation angle delta FF_steer And a feedback rotation angle delta FB_steer And obtain the desired rotation angle delta steerCom ；
And the angle sensor is used for measuring the current rotation angle of the agricultural machine.
The beneficial effects of the invention are as follows:
1) The invention calculates the navigation deviation based on the circular forward looking distance, solves the constant transverse deviation of the linear forward looking distance in curve path tracking, further reduces the steady state error of path tracking, improves the theoretical precision of a pure tracking model and adapts to occasions;
2) The invention converts the dynamic adjustment problem of the forward looking distance into a structure with double forward looking circular radiuses, and can adjust the navigation deviation D according to the curvature and the operation speed of the planned path of the agricultural machinery os_1 、D os_2 Such that the desired rotation angle delta FB_steer The decision is more accurate.
Drawings
FIG. 1 is a graph of a predicted circular trajectory of the current steering angle of an agricultural machine of the present invention;
FIG. 2 is a schematic diagram of calculating double-front circular distance navigation deviation of an agricultural machine.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments, but the scope of the invention is not limited thereto.
An agricultural machine path tracking system based on double-circular forward looking distance comprises an RTK positioning module, a feedforward controller, a feedback controller, a speed sensor, a navigation controller and an angle sensor, wherein the RTK positioning module collects geographic information to generate a navigation path point, and the feedforward controller decides a feedforward expected rotation angle delta according to the path point FF_steer The feedback controller calculates a feedback expected rotation angle delta according to the forward looking circular distance FB_steer The speed sensor measures the speed of the agricultural machinery and sets the guide calculated by the feedback controller based on fuzzy logic controlDeviation D of aviation os_1 、D os_2 Weight coefficient (as in the prior art), the navigation controller receives the feed-forward rotation angle delta FF_steer And a feedback rotation angle delta FB_steer And outputs the desired rotation angle delta steerCom The angle sensor measures the current rotation angle of the agricultural machinery and is connected with delta steerCom Subtracting to obtain deviation, and calculating to obtain an output rotation angle command by using PID.
An agricultural machine path tracking method based on double-circular forward looking distance specifically comprises the following steps: the feedforward controller constructs a feedforward desired rotation angle delta based on a path point of the planned path FF_steer The method comprises the steps of carrying out a first treatment on the surface of the Feedback controller calculates navigation deviation D based on circular forward looking distance os And calculates the expected rotation angle delta by adopting a PID algorithm FB_steer The method comprises the steps of carrying out a first treatment on the surface of the Desired rotation angle delta based on feedforward FF_steer Desired rotation angle delta FB_steer Obtaining the path tracking rotation angle delta steer ＝δ FF_steer +δ FB_steer The method comprises the steps of carrying out a first treatment on the surface of the The navigation controller tracks the corner according to the path to obtain the expected cornerThen the current turning angle of the agricultural machine is combined to control the electric steering wheel, so that the path tracking of the agricultural machine is realized; wherein a and b are weight coefficients corresponding to the angular velocity and the angle respectively.
As shown in fig. 1, the feedforward controller constructs a feedforward desired rotational angle δ based on the waypoints of the planned path FFsteer The method comprises the following steps: under the Gaussian plane coordinate system, three path points A (x a ，y a )、B(x b ，y b )、C(x c ，y c ) The center coordinates (X) of the three-point circle (i.e. the three path points of A, B, C) are constructed ff ，Y ff ) And radius R ff And according to the agricultural machinery wheelbase L JK And radius R ff Calculating the feedforward desired rotation angle delta FF_steer ＝arctan(L JK /R ff )。
Center coordinates of the circle passing through the three points (X ff ，Y ff ) The calculation process is as follows: let the slope of line segment AB be k 1 Slope of line segment BC is k 2 The following steps are:
radius R of circle passing through three points ff The calculation process of (1) is as follows: 1) Finding out a path point closest to the current position of the agricultural machine, and taking the next point A in the advancing direction of the agricultural machine as a path reference point of the next updating period of the agricultural machine navigation decision; 2) The method comprises the following steps of calculating the coordinates of the point A and the coordinates of the circle center:
as shown in fig. 2, the step of calculating the navigation deviation by the feedback controller based on the circular forward looking distance includes:
1) Assuming that the current moment agricultural machine steering angle is available for the next updated moment, a predicted circular path S may be constructed based on the current moment agricultural machine steering angle pre The method comprises the steps of carrying out a first treatment on the surface of the 2) The expected circular path S at the next moment can be obtained based on the current moment agricultural machinery position M and two points A, B on the planned path des The method comprises the steps of carrying out a first treatment on the surface of the 3) With current position of agricultural machinery (X C ，X C ) As the center of a circle and as the radiusConstruction of circular trajectories S veh_1 、S veh_2 Circular track S veh_1 、S veh_2 Respectively with the track S pre 、S des Intersecting at two points (X 1_1 ，Y 1_1 )、(X 1_2 ，Y 1_2 ) And (X) 2_1 ，Y 2_1 )、(X 2_2 ，Y 2_2 ) There is a navigation deviation-> And has D os ＝m D os_1 +nD os_2 M and n are respectively circular tracks S vel_1 、S vel_2 And calculating the weight coefficient of the navigation deviation.
As shown in fig. 1, a circular path S is predicted pre The construction steps of (a) are as follows: design (X) cp ，Y cp )、R cp Respectively S pre The calculating method comprises the following steps:
wherein θ is the agricultural machine heading angle.
S veh_1 And S is equal to pre 、S des Intersection point (X) 1_1 ，Y 1_1 )、(X 1_2 ，Y 1_2 ) The calculation steps of (a) are as follows:
X 1_1 ＝X c +a1(X cp -X c )/L±b1(Y cp -Y c )/L (10)
X 1_2 ＝X c +a2(X cp -X c )/T±b2(Y cp -Y c )/T (15)
wherein: l, a1, b1, T, a, b2 are intermediate variables in the calculation process.
Desired circular path S des The acquisition steps of (a) are as follows: design (X) dp ，Y dp )、R dp Respectively the desired circular paths S des Is the center and radius of the desired path, and three path points are recorded as M (X C ，Y C )、A(x a ，y a )、B(x b ，y b ) Wherein M is the current position of the agricultural machine, A is the next path point closest to the current position of the agricultural machine, and the slopes of the line segments MA and AB are k respectively 3 、k 1 The following steps are:
S veh_2 and S is equal to pre 、S des Intersection point (X) 2_1 ，Y 2_1 )、(X 2_2 ，Y 2_2 ) The calculation steps of (a) are as follows:
X 2_1 ＝X c +a1 ～ (X cp -X c )/L±b1 ～ (Y cp -Y c )/L (23)
X 2_2 ＝X c +a2 ～ (X cp -X c )/T±b2 ～ (Y cp -Y c )/T (28)
wherein: a1 ～ 、b1 ～ 、a2 ～ 、b2 ～ To calculate process intermediate variables.
Calculating the expected rotation angle delta by adopting PID algorithm FB_steer The calculation steps of (a) are as follows: wherein K is p 、K d K is as follows i Corresponding coefficients of the navigation error terms, respectively.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.

Claims (3)

1. An agricultural machine path tracking method based on double-circular forward looking distance is characterized by comprising the following steps of:
the feedforward controller constructs a feedforward desired rotation angle delta based on a path point of the planned path FF_steer The method comprises the steps of carrying out a first treatment on the surface of the Feedback controller calculates navigation deviation D based on circular forward looking distance os And calculates the expected rotation angle delta by adopting a PID algorithm FB_steer The method comprises the steps of carrying out a first treatment on the surface of the The said Wherein K is p 、K d 、K i Corresponding coefficients for the navigation error term;
desired rotation angle delta based on feedforward FF_steer Stage of the processAngle delta of observation FB_steer Obtaining the path tracking rotation angle delta steer ＝δ FF_steer +δ FB_steer ；
The navigation controller tracks the corner according to the path to obtain the expected cornerThen the current turning angle of the agricultural machine is combined to control the electric steering wheel, so that the path tracking of the agricultural machine is realized; wherein a and b are weight coefficients corresponding to the angular velocity and the angle respectively;
the feedforward controller constructs a feedforward desired rotation angle delta based on a path point of a planned path FF_steer The method specifically comprises the following steps:
under the Gaussian plane coordinate system, three path points A (x a ，y a )、B(x b ，y b )、C(x c ，y c ) The center coordinates (X ff ，Y ff ) And radius R ff And according to the agricultural machinery wheelbase L JK And radius R ff Calculating the feedforward desired rotation angle delta FF_steer ＝arctan(L JK /R ff )；
The feedback controller calculates the navigation deviation D based on the circular forward looking distance os The method specifically comprises the following steps:
assuming that the current moment agricultural machine steering angle is available for the next updated moment, a predicted circular path S is constructed based on the current moment agricultural machine steering angle pre The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the expected circular path S at the next moment based on the current agricultural machinery position M and the path point A, B on the planned path des The method comprises the steps of carrying out a first treatment on the surface of the With current position of agricultural machinery (X C ，Y C ) As the center of a circle and as the radiusConstruction of circular trajectories S veh_1 、S veh_2 The circular track S veh_1 、S veh_2 Respectively with the path S pre 、S des Intersecting at two points (X 1_1 ，Y 1_1 )、(X 1_2 ，Y 1_2 ) And (X) 2_1 ，Y 2_1 )、(X 2_2 ，Y 2_2 ) Then there is a navigation bias:
and has D os ＝m D os_1 +n D os_2 M and n are respectively circular tracks S vel_1 、S vel_2 Calculating a weight coefficient of the navigation deviation;
the construction predicts a circular path S pre The method specifically comprises the following steps:
design (X) cp ，Y cp )、R cp Respectively S pre Center and radius of the circle;
wherein θ is the agricultural machine heading angle;
said (X) 1_1 ，Y 1_1 )、(X 1_2 ，Y 1_2 ) The calculation formula of (2) is as follows:
X 1_1 ＝X c +a1(X cp -X c )/L±b1(Y cp -Y c )/L
X 1_2 ＝X c +a2(X cp -X c )/T±b2(Y cp -Y c )/T
wherein: intermediate quantity
The desired circular path S des The method specifically comprises the following steps:
design (X) dp ，Y dp )、R dp Respectively the center and radius of the expected circular path Sdes, and three path points on the expected path are marked as M (X C ，Y C )、A(x a ，y a )、B(x b ，y b ) Wherein A is the next path point to the nearest path point to the current agricultural machinery position; then:
wherein k is 3 Is the slope of line segment MA;
said (X) 2_1 ，Y 2_1 )、(X 2_2 ，Y 2_2 ) The calculation formula of (2) is as follows:
X 2_1 ＝X c +a1 ～ (X cp -X c )/L±b1 ～ (Y cp -Y c )/L
X 2_2 ＝X c +a2 ～ (X cp -X c )/T±b2 ～ (Y cp -Y c )/T
wherein: intermediate quantity
2. Agricultural machine path tracking method based on double circular forward looking distance according to claim 1, characterized in that the center coordinates (X ff ，Y ff ) The calculation process is as follows:
let the slope of line segment AB be k 1 Slope of line segment BC is k 2 The following steps are:
3. an agricultural machine path-tracking system implementing the dual circular forward looking distance-based agricultural machine path-tracking method of any one of claims 1-2, comprising:
the RTK positioning module is used for acquiring geographic information and generating navigation path points;
the feedforward controller decides a feedforward expected rotation angle delta according to the path point FF_steer ；
Feedback controller for calculating feedback expected rotation angle delta according to forward looking circular distance FB_steer ；
Speed sensor for measuring speed of agricultural machinery and setting navigation deviation D calculated by feedback controller os_1 、D os_2 A weight coefficient;
navigation controller for receiving feedforward rotation angle delta FF_steer And a feedback rotation angle delta FB_steer And obtain the desired rotation angle delta steerCom ；
And the angle sensor is used for measuring the current rotation angle of the agricultural machine.
CN202110779238.9A 2021-07-09 2021-07-09 Agricultural machine path tracking method and system based on double-circular forward looking distance Active CN113467460B (en)

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