CN116700293B - Method and device for debugging automatic driving system of agricultural vehicle and agricultural vehicle - Google Patents
Method and device for debugging automatic driving system of agricultural vehicle and agricultural vehicle Download PDFInfo
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Abstract
The invention provides a method and a device for debugging an automatic driving system of an agricultural vehicle and the agricultural vehicle, wherein the method is applied to the agricultural vehicle, and the agricultural vehicle is provided with a steering wheel and a motor connected with the steering wheel, and the method comprises the following steps: controlling the agricultural vehicle to run in a straight line within a first preset time based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process; controlling the agricultural vehicle to run according to a preset angle in a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data; fitting the collected first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, wherein the parameter adjustment information is used for adjusting the agricultural vehicle in the actual operation process. The method can lighten the manual debugging work of the agricultural vehicle and improve the operation precision of the agricultural vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving of agricultural machinery, in particular to a debugging method and device of an automatic driving system of an agricultural machinery vehicle and the agricultural machinery vehicle.
Background
The agricultural machinery automatic driving is based on Beidou navigation positioning, information acquisition of the Internet of things, agricultural machinery agricultural integration and other bottom technologies, and is a system for controlling agricultural machinery to realize automatic operation according to a planned path through an automatic control algorithm. By popularizing and applying the automatic driving system of the agricultural machine, the labor intensity of the agricultural machine hand can be effectively reduced, the operation efficiency and the operation quality of the agricultural machine are improved, and the operation cost of the agricultural machine is reduced.
Because of the variety of agricultural machinery, the agricultural machinery carried on the automatic driving system is different, and the automatic driving system needs to be carried on different vehicle types and different agricultural machinery carried on the automatic driving system, how to enable the automatic driving system to be compatible with different kinds of agricultural machinery and agricultural machinery is a problem to be solved by a person skilled in the art.
Disclosure of Invention
The invention provides a method and a device for debugging an automatic driving system of an agricultural vehicle and the agricultural vehicle, which are used for solving the defect of the prior art how to enable the automatic driving system to be compatible with different types of agricultural machines and agricultural tools.
The invention provides a debugging method of an automatic driving system of an agricultural vehicle, which is applied to the agricultural vehicle, wherein the agricultural vehicle is provided with a steering wheel and a motor connected with the steering wheel, and the method comprises the following steps:
controlling the agricultural vehicle to run in a straight line within a first preset time based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
fitting the collected first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, wherein the parameter adjustment information is used for adjusting the agricultural machinery vehicle in the actual operation process.
According to the debugging method of the automatic driving system of the agricultural vehicle, which is provided by the invention, the first control data and the first vehicle actual driving data of the agricultural vehicle in the driving process are recorded, and the debugging method comprises the following steps:
acquiring first control data and first vehicle actual running data of the agricultural vehicle in the running process through the motor and recording the first control data and the first vehicle actual running data; the first vehicle actual driving data includes at least one of: position information, heading information and steering wheel rotation information of the agricultural vehicle
The recording of the second control data and the second actual running data of the agricultural vehicle in the running process comprises the following steps:
and acquiring and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process through the motor and a sensor on the agricultural vehicle.
According to the debugging method of the automatic driving system of the agricultural vehicle provided by the invention, after the first control data and the first vehicle actual driving data of the agricultural vehicle in the driving process are recorded, the method further comprises the following steps:
and filtering the first control data and the first vehicle actual running data of the agricultural vehicle in the running process, and fitting the filtered data to obtain the first control data and the first vehicle actual running data of the agricultural vehicle in the straight running condition.
According to the method for debugging the automatic driving system of the agricultural vehicle provided by the invention, the collected first control data and second control data are fitted with the first vehicle actual driving data and the second vehicle actual driving data to obtain parameter adjustment information, and the method comprises the following steps:
fitting the first control data and the second control data with the first vehicle actual running data and the second vehicle actual running data to obtain an association relationship between the vehicle actual running data and the control data, wherein the association relationship comprises a relationship of at least one parameter;
and obtaining the parameter adjustment information based on the association relation between the actual running data of the vehicle and the control data, the collected first control data and second control data, and the first actual running data of the vehicle and the second actual running data of the vehicle.
According to the debugging method of the automatic driving system of the agricultural vehicle, which is provided by the invention, the second preset time length comprises a first time length and a second time length, and the agricultural vehicle is controlled to run according to a preset angle within the second preset time length, and the debugging method comprises the following steps:
controlling the agricultural vehicle to run according to a preset angle within a first angle range within the first time period;
controlling the agricultural vehicle to run according to the angle in a preset second angle range within the second time period; the first angular range is different from the second angular range.
According to the debugging method of the automatic driving system of the agricultural vehicle, the first angle range and the second angle range are not overlapped.
The invention also provides a debugging device of the automatic driving system of the agricultural vehicle, which is applied to the agricultural vehicle, wherein the agricultural vehicle is provided with a steering wheel and a motor connected with the steering wheel, and the device comprises:
the first processing module is used for controlling the agricultural vehicle to run in a straight line within a first preset duration based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
the second processing module is used for controlling the agricultural vehicle to run according to a preset angle within a second preset time period based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
the third processing module is used for carrying out fitting processing on the collected first control data and second control data and the first vehicle actual running data and the second vehicle actual running data to obtain parameter adjustment information, and the parameter adjustment information is used for adjusting the agricultural machinery vehicle in the actual operation process.
The present invention also provides an agricultural vehicle comprising:
the steering device comprises a vehicle body, a steering wheel, a motor connected with the steering wheel and a controller connected with the vehicle body, the steering wheel and the motor;
the controller is used for executing the debugging method of the automatic driving system of the agricultural vehicle.
The invention also provides a control device of the agricultural vehicle, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the debugging method of the automatic driving system of the agricultural vehicle when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of commissioning an autopilot system of an agricultural vehicle as described in any one of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of commissioning an autopilot system of an agricultural vehicle as described in any one of the above.
According to the debugging method and device for the automatic driving system of the agricultural vehicle and the agricultural vehicle, the agricultural vehicle is controlled to run in a straight line within a first preset duration based on a first target instruction of the motor, and first control data and first vehicle actual running data of the agricultural vehicle in the running process are recorded; controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process; the method comprises the steps of acquiring control data and actual running data of the vehicle at different stages, fitting the acquired first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, debugging an automatic driving system of the agricultural vehicle is achieved, the obtained parameter adjustment information is used for self-adaptive adjustment of the agricultural vehicle in an actual operation process, a user does not need to search and debug the agricultural vehicle, debugging work of the user is reduced, operation intensity is reduced, cost is lower, and operation precision and efficiency of the agricultural vehicle are improved.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for debugging an autopilot system of an agricultural vehicle;
FIG. 2 is a second flow chart of a method for debugging an autopilot system of an agricultural vehicle according to the present invention;
FIG. 3 is a schematic diagram of a debugging device of an automatic driving system of an agricultural vehicle;
fig. 4 is a schematic structural view of a control apparatus provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First, the nouns and application scenarios related to the embodiments of the present invention are described:
agricultural vehicles refer to vehicles used in agricultural production, collectively referred to as: a large and small tractor, etc.
The course angle refers to the angle between the real motion direction of the vehicle (i.e. the vehicle centroid speed) and the transverse axis (the transverse axis is the global reference X axis) in the ground coordinate system.
The multi-sensor refers to a sensor adopting a multi-sensor fusion technology, and the multi-sensor can adopt at least one of the following architectures: distributed, centralized, and hybrid.
1) Distributed type: the original data obtained by each independent sensor is processed locally, and then the result is sent to a processor for processing to obtain the final result. The distributed demand for communication bandwidth is low, the calculation speed is high, the reliability and the continuity are good, but the tracking precision is far from centralized high; the distributed fusion structure can be divided into a distributed fusion structure with feedback and a distributed fusion structure without feedback.
2) Centralized type: the original data obtained by each sensor is directly sent to the central processing unit for fusion processing in a centralized manner, so that real-time fusion can be realized, the precision of data processing is high, the algorithm is flexible, the requirements on the processor are high, and the processing data volume is large;
3) Mixing: in the hybrid multi-sensor information fusion framework, part of sensors adopt a centralized fusion mode, and the rest of sensors adopt a distributed fusion mode. The hybrid fusion framework has stronger adaptability, takes the advantages of centralized fusion and distributed fusion into consideration, and has strong stability.
The method provided by the embodiment of the invention is applied to an intelligent driving control scene of the agricultural machinery.
The automatic driving system of the agricultural machine is the early stage for finishing the efficient and accurate cultivation of the agricultural machine, and is the basis of modernization and intellectualization of the agricultural machine.
Along with the maturity of satellite positioning technology (such as big dipper satellite system), communication technology, computer technology and automatic control technique, can accurately confirm the positional information of agricultural machinery according to the satellite signal of receiving, through the detection and the analysis to the current state of agricultural machinery, set up reasonable autopilot scheme to control agricultural machinery to operate according to the prescribed route, can be applied to agricultural machinery with this kind of unmanned technique on, with reduction in production cost and improvement work efficiency.
The automatic driving system is carried on different vehicle types, the types of agricultural machinery are various, and the carried agricultural machinery is different, so that the same system is required to be compatible with different types of agricultural machinery, different agricultural machinery is required to be mounted with different agricultural machinery, the combination is various, and one system is not compatible and suitable for various vehicle types, and the operation is very difficult.
In addition, usually, after the automatic driving system is installed on the agricultural machine, certain parameters are required to be adjusted to optimize the automatic driving performance, and as the vehicle condition of each agricultural machine is different and the using time and the wearing degree of the agricultural machine are different, the operation parameters of each agricultural machine are different, and on the other hand, when the same agricultural machine encounters a farmland with larger difference of driving ground conditions, the parameters are often required to be readjusted. The agricultural machinery users need to fumbly and debug themselves, and the effect is not satisfactory. Moreover, because the agricultural operation area is often remote, a technician is required to conduct remote guidance or remote operation, and because of the existence of the condition, the usability and universality of the agricultural machine automatic driving product are greatly reduced.
Therefore, in the embodiment of the invention, the method for debugging the automatic driving system of the agricultural vehicle is provided, the agricultural vehicle runs along the fixed direction by controlling the motor, the control data and the actual running data of the vehicle in the running process are recorded, the control data and the actual running data of the vehicle are subjected to fitting processing, and parameter adjustment information is obtained and used for adjusting the agricultural vehicle in the operation process of the agricultural vehicle. The debugging method of the automatic driving system of the agricultural vehicle can improve the operation precision and efficiency and lighten the debugging workload of the user.
The following describes the technical solution of the embodiment of the present invention in detail with reference to fig. 1 to 4. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 is a schematic flow chart of a method for debugging an automatic driving system of an agricultural vehicle. The method of the embodiment is applied to an agricultural vehicle, the agricultural vehicle is provided with a steering wheel and a motor connected with the steering wheel, as shown in fig. 1, and the method provided by the embodiment comprises the following steps:
step 101, controlling an agricultural vehicle to run in a straight line within a first preset duration based on a first target instruction of a motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
specifically, the scheme of the embodiment is that an automatic driving system based on motor steering wheel control obtains control data of a motor and actual running data of a vehicle through issuing a motor target instruction, wherein the actual running data of the vehicle such as vehicle posture, position data, heading information (such as heading angle) and steering wheel rotation information and the like, and calculates a set of effective vehicle control parameters through the control data and the actual running data of the vehicle.
Firstly, the debugging stage comprises a time interval from a starting time point to an ending time point, after clicking is started, an operator is required to align the front wheels of the agricultural vehicle, the agricultural vehicle is in a straight running state, after the agricultural vehicle is confirmed to be in the straight running state, the agricultural vehicle starts to run, the steering wheel is not touched by mistake during the running, and the agricultural vehicle only needs to run at a speed within a preset speed range, for example, at a constant speed greater than 2 km/h.
In the first stage, i.e. within a first preset period, the target running angle of the vehicle is a straight line, and first control data of the vehicle and actual running data of the first vehicle are recorded during running, for example, data are collected and recorded at the frequency of 10 hertz.
In the first stage, the control data of the motor includes, for example, a running angle of 0 degrees, and the control data is used for indicating and controlling the agricultural vehicle to run straight.
Optionally, the following steps may be further included after step 101:
and filtering the first control data and the first vehicle actual running data of the agricultural vehicle in the running process, and fitting the filtered data to obtain the first control data and the first vehicle actual running data of the agricultural vehicle in the straight running condition.
After a section of control data and actual running data of the vehicle are recorded, some abnormal burr data are filtered through some filtering algorithms, and then the filtered data are fitted through some fitting algorithms, so that first control data and first actual running data of the agricultural vehicle under the condition of straight running are obtained. At this point the operator may be prompted to enter the next commissioning phase.
102, controlling the agricultural vehicle to run at a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data of the agricultural vehicle in the running process and second actual running data of the agricultural vehicle;
specifically, in the second stage, a motor of the steering wheel is controlled to input a second target instruction, the agricultural vehicle runs according to a fixed preset angle, the agricultural vehicle runs slowly according to the preset angle towards a corresponding direction, at the moment, not only control data recorded by the motor and actual running data of the vehicle are available, but also the first control data and the actual running data of the first vehicle in the first stage are recorded, and meanwhile, the actual running data of the vehicle connected with other multiple sensors is recorded, so that the second control data and the second actual running data of the vehicle can be obtained. Optionally, after a period of time, the data can be deleted by filtering, if the collected data does not meet the requirement, the data can be continuously collected until the collection is completed, and the vehicle stops to enter the next stage.
Step 103, fitting the collected first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, wherein the parameter adjustment information is used for adjusting the agricultural vehicle in the actual operation process.
Specifically, at this time, the collected control data and the actual running data of the vehicle are compared, the control data includes first control data and second control data of a first stage and a second stage, the actual running data of the vehicle includes first actual running data and second actual running data of the vehicle of the first stage and the second stage, for example, the control data is a target a, the obtained actual result is B, then the association relationship between the two can be calculated together (for example, the relationship can be represented by some functions) through some fitting algorithms and a plurality of groups of control data and the actual running data of the vehicle, and adjustable parameters are provided, so that the gap between the target a and the actual result B is controlled, the agricultural vehicle can reach the target a, that is, the agricultural vehicle is controlled by combining the target a and the calculated result C, so that the agricultural vehicle approaches the target a as much as possible, at this time, the vehicle is debugged, the obtained adjustable parameters are subjected to fine tuning in the actual use process of the subsequent agricultural vehicle.
According to the method, based on a first target instruction of the motor, the agricultural vehicle is controlled to run in a straight line within a first preset duration, and first control data and first vehicle actual running data of the agricultural vehicle in the running process are recorded; controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process; the method comprises the steps of acquiring control data and actual running data of the vehicle at different stages, fitting the acquired first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, debugging an automatic driving system of the agricultural vehicle is achieved, the obtained parameter adjustment information is used for self-adaptive adjustment of the agricultural vehicle in an actual operation process, a user does not need to search and debug the agricultural vehicle, debugging work of the user is reduced, operation intensity is reduced, cost is lower, and operation precision and efficiency of the agricultural vehicle are improved.
Alternatively, the "recording the first control data and the first vehicle actual driving data of the agricultural vehicle during driving" in step 101 may be implemented as follows:
acquiring first control data and first vehicle actual running data of the agricultural vehicle in the running process through the motor and recording the first control data and the first vehicle actual running data; the first vehicle actual driving data includes at least one of: position information, heading information and steering wheel rotation information of the agricultural vehicle
In step 102, "recording the second control data and the second actual running data of the agricultural vehicle during running" may be implemented as follows:
and acquiring and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process through the motor and a sensor on the agricultural vehicle.
In the above embodiment, only the control data of the motor and the actual running data of the vehicle are collected in the first stage of the debugging, and the data collected based on the motor is stable and reliable, so that the debugging accuracy is high.
Alternatively, as shown in fig. 2, step 103 may be implemented as follows:
step 1031, fitting the collected first control data and second control data with the first vehicle actual running data and the second vehicle actual running data to obtain an association relationship between the vehicle actual running data and the control data, wherein the association relationship comprises a relationship of at least one parameter;
step 1032, obtaining the parameter adjustment information based on the association relation between the actual running data of the vehicle and the control data, the collected first control data and second control data, and the first actual running data of the vehicle and the second actual running data of the vehicle.
Specifically, the control data includes first control data and second control data of the first stage and the second stage, the vehicle actual running data includes first vehicle actual running data and second vehicle actual running data of the first stage and the second stage, and based on the control data and the vehicle actual running data, an association relationship between the vehicle actual running data and the control data may be obtained, where the association relationship includes, for example, a relationship of at least one parameter, that is, a relationship of a value of at least one parameter in the control data and a value of at least one parameter in the vehicle actual running data;
based on the association relation between the actual running data of the vehicle and the control data, the collected first control data and second control data, and the first actual running data of the vehicle and the second actual running data of the vehicle, final parameter adjustment information is obtained.
In the actual operation process of the agricultural vehicle, the agricultural vehicle is controlled based on the control data and the parameter adjustment information, so that the actual running data of the vehicle is close to the control data, and the operation efficiency and the operation precision of the agricultural vehicle are improved.
Optionally, the second preset duration includes a first duration and a second duration, and the "controlling the agricultural vehicle to travel at a preset angle within the second preset duration" in step 102 may be implemented as follows:
controlling the agricultural vehicle to run according to a preset angle within a first angle range within the first time period;
controlling the agricultural vehicle to run according to the angle in a preset second angle range within the second time period; the first angular range is different from the second angular range.
Specifically, the motor of the steering wheel is controlled, for example, a preset first angle range is input, the agricultural vehicle is controlled to travel according to an angle in the first angle range, the vehicle can slowly travel towards a direction corresponding to the angle, for example, the vehicle can travel according to one angle in a fixed manner during the traveling process, or travel according to a plurality of angles, and the embodiment of the invention is not limited to this, for example, the first angle range is an angle range rotating leftwards with the agricultural vehicle as a starting point.
At the moment, not only the control data recorded by the motor and the actual running data of the vehicle, but also the vehicle body gesture and the position data recorded in the first stage, and meanwhile, the actual running data of the vehicle acquired by the multiple fusion sensors are recorded, and finally the control data and the actual running data of the vehicle in the first duration are obtained.
In the second period, the motor of the steering wheel is controlled, for example, a preset second angle range is input, the agricultural vehicle is controlled to run according to an angle in the first angle range, the vehicle can slowly run in a direction corresponding to the angle, for example, the vehicle can run fixedly according to one angle or can run according to a plurality of angles during running, and the embodiment of the invention is not limited to this, for example, the first angle range is an angle range which takes the agricultural vehicle as a starting point and rotates rightwards.
After the data acquisition is completed, filtering and deleting the recorded control data and the actual running data of the vehicle, deleting the control data and the actual running data of the vehicle if the control data and the actual running data of the vehicle are not consistent, and continuously repeating the step 102 to acquire the data if the deleted data does not meet the actual requirements, such as a small data amount.
Optionally, the first angular range and the second angular range do not overlap.
Because the first angle range and the second angle range are not overlapped, more combinations of real control data and actual running data of the vehicle can be obtained, so that the finally obtained parameter adjustment information is more accurate, and the debugging effect is better.
In the embodiment, the control data and the actual running data of the vehicle are collected through a plurality of different control processes, so that more combinations of the actual control data and the actual running data of the vehicle can be obtained, the finally obtained parameter adjustment information is accurate, and the debugging effect is good.
According to the method provided by the embodiment of the invention, the steering wheel motor is switched to firstly, the steering wheel rotation mode and the actual vehicle running position of the agricultural vehicle are judged by simulating the steering wheel rotation position, and the actual vehicle running data of the agricultural vehicle under different control data are obtained by continuously adjusting and controlling in a zoning mode, so that the parameters of accurate vehicle control can be obtained, and the agricultural vehicle can be effectively controlled.
In summary, according to the agricultural machinery automatic driving system which is debugged based on the agricultural machinery automatic driving system debugging method provided by the embodiment of the invention, different types of agricultural machinery can be compatible, namely, different agricultural machinery is carried for different vehicle types, and accurate automatic driving operation can be realized after the automatic driving system is adaptively debugged.
The debugging device of the automatic driving system of the agricultural vehicle, which is provided by the invention, is described below, and the debugging device of the automatic driving system of the agricultural vehicle, which is described below, and the debugging method of the automatic driving system of the agricultural vehicle, which is described above, can be correspondingly referred to each other.
Fig. 3 is a schematic diagram of a debugging device of an automatic driving system of an agricultural vehicle. The device of this embodiment can be applied to the agricultural vehicle, is applied to the agricultural vehicle, be equipped with the steering wheel on the agricultural vehicle, and with the motor that the steering wheel is connected, as shown in fig. 3, the debugging device of the automatic driving system of the agricultural vehicle that this embodiment provided includes:
the first processing module 310 is configured to control the agricultural vehicle to travel in a straight line within a first preset duration based on a first target instruction of the motor, and record first control data and first vehicle actual traveling data of the agricultural vehicle during a traveling process;
the second processing module 320 is configured to control the agricultural vehicle to travel at a preset angle within a second preset duration based on a second target instruction of the motor, and record second control data and second vehicle actual traveling data of the agricultural vehicle during traveling;
and the third processing module 330 is configured to perform fitting processing on the collected first control data and second control data and the first vehicle actual running data and the second vehicle actual running data to obtain parameter adjustment information, where the parameter adjustment information is used for adjusting the agricultural vehicle in an actual operation process.
Optionally, the first processing module 310 is specifically configured to:
acquiring first control data and first vehicle actual running data of the agricultural vehicle in the running process through the motor and recording the first control data and the first vehicle actual running data; the first vehicle actual driving data includes at least one of: position information, heading information and steering wheel rotation information of the agricultural vehicle
And acquiring and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process through the motor and a sensor on the agricultural vehicle.
Optionally, the first processing module 310 is further configured to:
after first control data and first vehicle actual running data of the agricultural vehicle in the running process are recorded, the first control data and the first vehicle actual running data of the agricultural vehicle in the running process are filtered, and the filtered data are fitted to obtain the first control data and the first vehicle actual running data of the agricultural vehicle in the straight running condition.
Optionally, the third processing module 330 is specifically configured to:
fitting the first control data and the second control data with the first vehicle actual running data and the second vehicle actual running data to obtain an association relationship between the vehicle actual running data and the control data, wherein the association relationship comprises a relationship of at least one parameter;
and obtaining the parameter adjustment information based on the association relation between the actual running data of the vehicle and the control data, the collected first control data and second control data, and the first actual running data of the vehicle and the second actual running data of the vehicle.
Optionally, the second preset duration includes a first duration and a second duration, and the second processing module 320 is specifically configured to:
controlling the agricultural vehicle to run according to a preset angle within a first angle range within the first time period;
controlling the agricultural vehicle to run according to the angle in a preset second angle range within the second time period; the first angular range is different from the second angular range.
Optionally, the first angular range does not overlap with the second angular range.
The device of the embodiment of the present invention is configured to perform the method of any of the foregoing method embodiments, and its implementation principle and technical effects are similar, and are not described in detail herein.
Fig. 4 illustrates a physical structure diagram of a control device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform a method of debugging an autopilot system of an agricultural vehicle, the method comprising:
controlling the agricultural vehicle to run in a straight line within a first preset time based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
fitting the collected first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, wherein the parameter adjustment information is used for adjusting the agricultural machinery vehicle in the actual operation process.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for debugging an autopilot system of an agricultural vehicle provided by the methods above, the method comprising:
controlling the agricultural vehicle to run in a straight line within a first preset time based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
fitting the collected first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, wherein the parameter adjustment information is used for adjusting the agricultural machinery vehicle in the actual operation process.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for debugging an autopilot system of an agricultural vehicle provided by the above methods, the method comprising:
controlling the agricultural vehicle to run in a straight line within a first preset time based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
fitting the collected first control data and second control data with the actual running data of the first vehicle and the actual running data of the second vehicle to obtain parameter adjustment information, wherein the parameter adjustment information is used for adjusting the agricultural machinery vehicle in the actual operation process.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for debugging an automatic driving system of an agricultural vehicle, the method being applied to the agricultural vehicle, the agricultural vehicle being provided with a steering wheel and a motor connected to the steering wheel, the method comprising:
controlling the agricultural vehicle to run in a straight line within a first preset time based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
controlling the agricultural vehicle to run according to a preset angle within a second preset time based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
fitting the first control data and the second control data with the first vehicle actual running data and the second vehicle actual running data to obtain an association relationship between the vehicle actual running data and the control data, wherein the association relationship comprises a functional relationship of at least one parameter; the functional relation comprises a functional relation between the value of the parameter in the control data and the value in the actual running data of the vehicle;
and obtaining parameter adjustment information based on the association relation between the actual running data of the vehicle and the control data, the collected first control data and second control data, the first actual running data of the vehicle and the second actual running data of the vehicle, wherein the parameter adjustment information is used for adjusting the agricultural vehicle in the actual operation process.
2. The method for debugging an automated driving system of an agricultural vehicle according to claim 1, wherein the recording the first control data and the first vehicle actual driving data of the agricultural vehicle during driving comprises:
acquiring first control data and first vehicle actual running data of the agricultural vehicle in the running process through the motor and recording the first control data and the first vehicle actual running data; the first vehicle actual driving data includes at least one of: the position information, the heading information and the steering wheel rotation information of the agricultural vehicle;
the recording of the second control data and the second actual running data of the agricultural vehicle in the running process comprises the following steps:
and acquiring and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process through the motor and a sensor on the agricultural vehicle.
3. The method for debugging an automatic driving system of an agricultural vehicle according to claim 1 or 2, wherein after recording the first control data and the first vehicle actual driving data of the agricultural vehicle during driving, further comprising:
and filtering the first control data and the first vehicle actual running data of the agricultural vehicle in the running process, and fitting the filtered data to obtain the first control data and the first vehicle actual running data of the agricultural vehicle in the straight running condition.
4. The method for debugging an automatic driving system of an agricultural vehicle according to claim 1 or 2, wherein the second preset time period includes a first time period and a second time period, and the controlling the agricultural vehicle to travel at a preset angle within the second preset time period includes:
controlling the agricultural vehicle to run according to a preset angle within a first angle range within the first time period;
controlling the agricultural vehicle to run according to the angle in a preset second angle range within the second time period; the first angular range is different from the second angular range.
5. The method of commissioning a robotic system of an agricultural vehicle of claim 4, wherein the first angular range and the second angular range do not overlap.
6. A debugging device of an automatic driving system of an agricultural vehicle, which is characterized by being applied to the agricultural vehicle, wherein a steering wheel and a motor connected with the steering wheel are arranged on the agricultural vehicle, and the device comprises:
the first processing module is used for controlling the agricultural vehicle to run in a straight line within a first preset duration based on a first target instruction of the motor, and recording first control data and first vehicle actual running data of the agricultural vehicle in the running process;
the second processing module is used for controlling the agricultural vehicle to run according to a preset angle within a second preset time period based on a second target instruction of the motor, and recording second control data and second vehicle actual running data of the agricultural vehicle in the running process;
the third processing module is used for carrying out fitting processing on the first control data and the second control data and the first vehicle actual running data and the second vehicle actual running data to obtain an association relation between the vehicle actual running data and the control data, wherein the association relation comprises a function relation of at least one parameter; the functional relation comprises a functional relation between the value of the parameter in the control data and the value in the actual running data of the vehicle;
and obtaining parameter adjustment information based on the association relation between the actual running data of the vehicle and the control data, the collected first control data and second control data, the first actual running data of the vehicle and the second actual running data of the vehicle, wherein the parameter adjustment information is used for adjusting the agricultural vehicle in the actual operation process.
7. An agricultural vehicle, comprising:
the steering device comprises a vehicle body, a steering wheel, a motor connected with the steering wheel and a controller connected with the vehicle body, the steering wheel and the motor;
the controller is configured to perform the method of commissioning of an autopilot system of an agricultural vehicle of any one of claims 1 to 5.
8. A control device for an agricultural vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a method for debugging an autopilot system of an agricultural vehicle according to any one of claims 1 to 5 when executing the program.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements a method of debugging an autopilot system of an agricultural vehicle according to any one of claims 1 to 5.
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