CN-122009166-A - Vehicle auxiliary driving control method and system based on embedded type

CN122009166ACN 122009166 ACN122009166 ACN 122009166ACN-122009166-A

Abstract

The application relates to the technical field of auxiliary driving, in particular to an embedded-type-based vehicle auxiliary driving control method and system, wherein the method comprises the steps of obtaining vertical vibration data, horizontal vibration data, running speed and direction angle of a harvester for crops at all moments in all monitoring periods; the method comprises the steps of calculating a vertical disturbance value and a transverse disturbance value of each monitoring period, recording the last monitoring period before switching as a reference period after the harvester switches to a straight-line auxiliary driving mode, recording the monitoring period after switching as a control period, obtaining the vertical evaluation value, the transverse evaluation value, the crop resistance coefficient, the crop disturbance degree and the adjustment coefficient of each control period, adjusting the proportion parameters of a PID algorithm of the next control period, and controlling the straight-line driving direction of the harvester by combining the PID algorithm. The application ensures that the harvester can realize accurate straight-line control under complex field conditions and improves the field operation efficiency of the harvester.

Inventors

WANG SONGHONG
MA WEISHUN

Assignees

莱芜职业技术学院

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. The vehicle auxiliary driving control method based on the embedded type is characterized by comprising the following steps of: Acquiring vertical vibration data, horizontal vibration data, running speed and direction angle of a harvester for crops at each moment in each monitoring period; analyzing fluctuation changes of vertical vibration data and horizontal vibration data in each monitoring period, evaluating influence of unevenness of a ridged road surface on running obstruction and deviation influence of running direction, and respectively calculating vertical disturbance values and horizontal disturbance values of each monitoring period; After the harvester is switched to the straight auxiliary driving mode, the last monitoring period before switching is recorded as a reference period, and the monitoring period after switching is recorded as a control period; Based on the vertical disturbance value and the relative change degree of the transverse disturbance value between each control period and the reference period, respectively obtaining a vertical evaluation value and a transverse evaluation value of each control period; Analyzing the change condition of the running speed between each control period and the reference period, and evaluating the influence of crops on running resistance by combining the vertical evaluation value to obtain the crop resistance coefficient of each control period; the deviation influence of crops on the running direction is estimated by combining the transverse evaluation value and the crop resistance coefficient according to the difference condition between the direction angles at different moments in each control period and the direction angle at the last moment of the reference period, and the crop interference degree of each control period is determined; Based on the difference condition of the transverse disturbance value and the crop interference degree between each control period and the adjacent control period, the adjustment coefficient of each control period is calculated, the proportion parameter of the PID algorithm of the next control period is adjusted, and the direct running direction of the harvester is controlled by combining the PID algorithm.
2. The embedded-type-based vehicle assisted driving control method according to claim 1, wherein the calculating of the vertical disturbance value for each monitoring period includes: obtaining wave peaks of absolute values of vertical vibration data at all moments in each monitoring period, and marking the wave peaks as vertical wave peaks; acquiring the median of absolute values of vertical vibration data at all times in each monitoring period, and recording the median as a vertical threshold; Calculating the discrete degree of the absolute value of the vertical vibration data at all times in each monitoring period, and recording the discrete degree as vertical discrete degree; The vertical disturbance value is the product of the average value of the peaks of all vertical wave peaks which are larger than the vertical threshold value in each monitoring period and the vertical dispersion.
3. The embedded-type-based vehicle assisted driving control method according to claim 1, wherein the calculation process of the lateral disturbance value is: Acquiring peaks of absolute values of horizontal vibration data at all moments in each monitoring period, and marking the peaks as transverse peaks; acquiring the median of absolute values of horizontal vibration data at all moments in each monitoring period, and recording the median as a transverse threshold; Calculating the degree of dispersion of the absolute value of the horizontal vibration data at all times in each monitoring period, and recording the degree as the transverse dispersion; The transverse disturbance value is the product of the average value of the peaks of all transverse peaks larger than a transverse threshold value in each monitoring period and the transverse dispersion.
4. The embedded-type-based vehicle assisted driving control method according to claim 1, wherein the obtaining of the vertical evaluation value and the lateral evaluation value of each control period respectively includes: the vertical evaluation value is the ratio of the vertical disturbance value between each control period and the reference period; the transverse evaluation value is the ratio of the transverse disturbance value between each control period and the reference period.
5. The embedded-type vehicle assisted driving control method according to claim 1, wherein the obtaining the crop resistance coefficient for each control period includes: calculating the ratio between the average value of the running speeds at all the moments in each control period and the average value of the running speeds at all the moments in the reference period, marking the ratio as a relative ratio, and carrying out negative mapping on the relative ratio; the crop resistance coefficient is a normalized result of the ratio of the result of the negative mapping to the vertical evaluation value.
6. The embedded-type vehicle assisted driving control method according to claim 1, wherein the determining the degree of crop disturbance for each control period includes: the difference value between the direction angle at each moment in each control period and the straight direction angle is used as the deviation angle at each moment in each control period; calculating the ratio of the absolute value of the mean value of the deviation angles at all times in each control period to the preset maximum angle, and recording the ratio as the deviation; The crop disturbance is the product of the crop deviation and the crop resistance coefficient.
7. The embedded-type-based vehicle assisted driving control method according to claim 1, wherein the calculating of the adjustment coefficient for each control period includes: Taking a normalization result of the ratio of the transverse evaluation value of each control period to the crop interference degree as a dominant factor of each control period; The adjustment coefficient is the difference of the dominant factors between each control period and the previous control period.
8. The embedded-type-based vehicle assisted driving control method according to claim 1, characterized in that the first after switching to the straight-ahead assisted driving mode The control period corresponds to the adjusted proportion parameter The calculation formula of (2) is as follows: , wherein, Is the first The proportional parameters of the individual control periods, To switch to the proportional parameter of the first control period after the straight assist drive mode, Is the first Adjustment coefficients for the control periods.
9. The embedded vehicle driving support control method according to claim 8, wherein the obtaining process of the proportion parameter of the first control period is that the proportion parameter of the first control period corresponding to the PID algorithm is set by utilizing a Ziegler-Nichols method, and the proportion parameter of the first control period is obtained.
10. An embedded-based vehicle assisted driving control system comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that the processor implements the steps of the embedded-based vehicle assisted driving control method according to any one of claims 1-9 when executing the computer program.

Description

Vehicle auxiliary driving control method and system based on embedded type Technical Field The application relates to the technical field of auxiliary driving, in particular to an embedded-type-based vehicle auxiliary driving control method and system. Background In modern agricultural production, a crop harvester is used as a key agricultural vehicle in an agricultural production link, the running state of the crop harvester directly influences the harvesting efficiency of crops, the auxiliary driving of the crop harvester controls the running state of the vehicle by sensing the surrounding environment of the vehicle in real time, so that the crop harvester runs straight along the ridge direction, the labor intensity can be reduced, the input cost is reduced, and the agricultural production efficiency is remarkably improved. When the harvester travels in the field, the harvester generates severe jolt vibration due to poor flatness of the ridge road surface, transverse sliding occurs in the traveling direction of the harvester, secondly, the growth density and lodging state of crops planted in different areas of the field are different, the traveling direction of the harvester and the harvesting direction of the crops are deviated to different degrees, the PID algorithm adopts fixed proportion parameters, is difficult to adapt to the traveling direction deviation caused by different reasons, when the harvester impacts the ridge road surface, deviation correction hysteresis is possibly caused by insufficient response, and when the harvester continuously jolt, the direction overshoot is possibly caused by response to the overstrespass, so that the control precision of keeping the harvester traveling straight is lower, and the field operation efficiency is influenced. Disclosure of Invention In order to solve the technical problems, the method and the system for controlling the auxiliary driving of the vehicle based on the embedded type are provided to solve the existing problems. The application provides an embedded-type-based vehicle auxiliary driving control method and system, which comprise the following steps: In a first aspect, an embodiment of the present application provides an embedded-based vehicle driving support control method, including the steps of: Acquiring vertical vibration data, horizontal vibration data, running speed and direction angle of a harvester for crops at each moment in each monitoring period; analyzing fluctuation changes of vertical vibration data and horizontal vibration data in each monitoring period, evaluating influence of unevenness of a ridged road surface on running obstruction and deviation influence of running direction, and respectively calculating vertical disturbance values and horizontal disturbance values of each monitoring period; After the harvester is switched to the straight auxiliary driving mode, the last monitoring period before switching is recorded as a reference period, and the monitoring period after switching is recorded as a control period; Based on the vertical disturbance value and the relative change degree of the transverse disturbance value between each control period and the reference period, respectively obtaining a vertical evaluation value and a transverse evaluation value of each control period; Analyzing the change condition of the running speed between each control period and the reference period, and evaluating the influence of crops on running resistance by combining the vertical evaluation value to obtain the crop resistance coefficient of each control period; the deviation influence of crops on the running direction is estimated by combining the transverse evaluation value and the crop resistance coefficient according to the difference condition between the direction angles at different moments in each control period and the direction angle at the last moment of the reference period, and the crop interference degree of each control period is determined; Based on the difference condition of the transverse disturbance value and the crop interference degree between each control period and the adjacent control period, the adjustment coefficient of each control period is calculated, the proportion parameter of the PID algorithm of the next control period is adjusted, and the direct running direction of the harvester is controlled by combining the PID algorithm. Preferably, the calculating the vertical disturbance value of each monitoring period includes: obtaining wave peaks of absolute values of vertical vibration data at all moments in each monitoring period, and marking the wave peaks as vertical wave peaks; acquiring the median of absolute values of vertical vibration data at all times in each monitoring period, and recording the median as a vertical threshold; Calculating the discrete degree of the absolute value of the vertical vibration data at all times in each monitoring period, and recording the discrete degree as vertical discrete