DE102019204237A1 - Method and control device for controlling an agricultural vehicle - Google Patents

Abstract

The invention describes a method for controlling an agricultural vehicle on an agricultural area. Waypoint information is determined along a path to be traveled and, based on this, a geometric abstraction of a section of the path to be traveled is determined. Based on the geometric abstraction, at least one driving dynamics component of the agricultural vehicle is activated. The invention also describes a control device for carrying out such a method, a control system with such a control device and an agricultural vehicle with this control system.

Description

The invention relates to a method, a control device and a control system for controlling an agricultural vehicle on an agricultural area. The invention also relates to an agricultural vehicle with such a control system.

It is known that an agricultural vehicle can drive automatically on an agricultural area. At least one driving dynamics component of the agricultural vehicle can be controlled automatically.

In one aspect, the invention relates to a method for controlling an agricultural vehicle on an agricultural area. One or more steps of the method can be carried out automatically.

The control of the agricultural vehicle on the agricultural area can include tracking of the agricultural vehicle. The lane guidance of the agricultural vehicle can be based on following or driving off a lane or a trajectory with the agricultural vehicle. The lane can be a predetermined lane. The trajectory can be a predetermined trajectory. The agricultural vehicle can thus be automatically guided or controlled along the lane or the trajectory. For controlling the agricultural vehicle, for example, a lateral distance or an offset to the lane or to the trajectory can be determined and corrected. For controlling the agricultural vehicle, it is also possible, for example, to determine and correct an orientation deviation of the agricultural vehicle from the lane or from the trajectory. The agricultural vehicle can thus be controlled automatically on the agricultural area in an advantageous manner. When controlling the agricultural vehicle on the agricultural area, it is therefore not necessary for the agricultural vehicle to be actively controlled by a driver.

Controlling the agricultural vehicle on the agricultural area can include controlling the driving dynamics of the agricultural vehicle. Controlling the driving dynamics can include controlling the transverse dynamics of the agricultural vehicle. As an alternative or in addition, controlling the agricultural vehicle can include controlling the longitudinal dynamics of the agricultural vehicle. Controlling the agricultural vehicle can include steering the agricultural vehicle on the agricultural area. The agricultural vehicle can be controlled transversely dynamically. Controlling the agricultural vehicle can include accelerating or driving the agricultural vehicle on the agricultural area. The agricultural vehicle can be controlled longitudinally dynamically.

The agricultural vehicle can be an agricultural or forestry machine, an agricultural or forestry device or an agricultural or forestry utility vehicle. The agricultural vehicle can be an agricultural tractor, for example a tractor. The agricultural vehicle can also be an agricultural work vehicle, for example a harvesting machine. The usable agricultural area can be an agricultural or forestry area to be cultivated. For example, the agricultural area can have a field, a field with planted or harvested useful plants, a meadow or a forest.

In one step of the method, waypoint information is determined along a path for driving the agricultural area with the agricultural vehicle. The path can be the lane or the trajectory.

The waypoint information along the path may include a plurality of waypoints along the path. The plurality of waypoints can have at least two waypoints. The waypoints can be waypoints arranged equidistantly along the path. Alternatively or additionally, the waypoints can be waypoints with a curvature-based point spacing along the path. For example, in an arcuate section of the path, waypoints with a point spacing can be determined which is smaller than a point spacing of waypoints in a straight section of the path. The waypoint information along the path can be determined in a coordinate system. The coordinate system can be a vehicle-related or a usable area-related coordinate system.

In a further step of the method, at least one geometric abstraction of at least one section of the path lying ahead in the direction of travel of the agricultural vehicle is determined based on the determined waypoint information.

The geometric abstraction from the at least one section of the path lying ahead can be a selection of the determined waypoint information. The geometric abstraction from the at least one section of the path lying ahead can also be a geometric simplification or parameterization of the determined waypoint information. Alternatively or additionally, the geometric abstraction from the at least one section of the path lying ahead can be a mathematical or geometric function or curve for approximating the determined waypoint information. The waypoint information can have mathematical support points for this purpose. Alternatively or additionally, the geometric abstraction from the at least one section of the path lying ahead can be a route element or a route parameter based on the determined waypoint information.

The section of the path can comprise a part or area of the path. The section of the path can be a straight or curved section of the path. If the section of the path is a rectilinear section, a straight line, for example, can be determined as a geometric abstraction. If the section of the path is a curved section, an arc of a circle or a clothoid, for example, can be determined as the geometric abstraction.

In a further step of the method, at least one driving dynamics component of the agricultural vehicle is actuated based on the determined at least one geometric abstraction for following the path with the agricultural vehicle. For this purpose, the geometric abstraction can be requested from a driving dynamics control in order to control the at least one driving dynamics component. Alternatively, the geometric abstraction can be transmitted as a control command to a driving dynamics controller in order to control the at least one driving dynamics component.

The driving dynamics component of the agricultural vehicle can be a longitudinal dynamics component or a transverse dynamics component of the agricultural vehicle. The lateral dynamics component can have at least one component of a steering system of the agricultural vehicle. The longitudinal dynamics component can have at least one component from a drive or from a brake system of the agricultural vehicle. The driving dynamics component can furthermore have at least one component from a drive train of the agricultural vehicle.

Within the scope of the invention, waypoint information for driving on the agricultural area can be transmitted to a control device of the agricultural vehicle for controlling the at least one driving dynamics component of the agricultural vehicle. Based on the determined at least one geometric abstraction, which is based on the waypoint information, waypoint information can be transmitted variably and flexibly with the invention. The waypoint information and the geometric abstraction can be determined continuously or cyclically, for example at a predefined time interval. The at least one driving dynamics component can also be activated continuously or cyclically based on such determination steps carried out continuously or cyclically.

Exemplary advantages of the inventions relate to data management for the automated control of an agricultural vehicle. With the geometric abstraction, an (intermediate) storage of waypoint information for controlling the at least one driving dynamics component can require less memory. With the geometric abstraction, buffering of waypoint information for controlling the at least one driving dynamics component can also require a lower buffer requirement. With the geometric abstraction, communication of waypoint information for controlling the at least one driving dynamics component can also result in a lower communication load in a communication channel for transmitting the geometric abstraction. For example, when the geometric abstraction is transmitted via a CAN bus to the control device or to the driving dynamics component of the agricultural vehicle, a bus load in the CAN bus can be reduced.

Within the scope of the invention, waypoint information can be transmitted by determining the at least one geometric abstraction as a function of a geometric complexity of the path to be followed by the agricultural vehicle. The complexity of the path to be traveled can, for example, have a curvature of the path to be traveled. With the invention, a path, which is discretely defined by individual waypoints, for driving on the agricultural area can be parameterized by determining the geometric abstraction. Thus, on the one hand, a determination accuracy of the path can be increased and, on the other hand, a determination data volume of the path can be reduced. The Waypoint information along the path can furthermore be interpolated or extrapolated when determining the at least one geometric abstraction. Thus, for the automated control of the agricultural vehicle in order to travel along the path, it is advantageous not to use all of the predetermined waypoint information of the path to be traveled.

The activation of the at least one driving dynamics component of the agricultural vehicle can include a comparison of the geometric abstraction of the section of the path with a current position of the agricultural vehicle on the agricultural area. The location can have a position or an orientation of the agricultural vehicle on the agricultural area. To control the at least one driving dynamics component of the agricultural vehicle, a lateral distance between the agricultural vehicle and the path to be traveled can be determined based on such a comparison. Alternatively or additionally, an orientation deviation of the agricultural vehicle from the path to be traveled can be determined based on such a comparison. The activation of the at least one driving dynamics component of the agricultural vehicle can include correcting the lateral distance or the orientation deviation.

The at least one driving dynamics component of the agricultural vehicle can be controlled based on a curvature of the at least one section of the path lying ahead in the direction of travel of the agricultural vehicle, which can be derived from the determined at least one geometric abstraction. The at least one driving dynamics component of the agricultural vehicle can be activated based on a steering angle calculated from the curvature for steering the agricultural vehicle.

One embodiment of the method has as a further step the detection of at least one section of a line on the agricultural area. At least one of the determining steps can thus be carried out as a function of the at least one detected section of the line. The waypoint information can be determined along the at least one detected section of the line. Alternatively or additionally, the waypoint information can be determined parallel or offset to the at least one recorded section of the line. The path can correspond to the at least one detected section of the line, wherein the path can run at least in sections along the at least one detected section of the line. Alternatively or additionally, the path can run parallel or offset to the at least one recorded section of the line.

The at least one geometric abstraction can be based on at least one recorded section of a line. At least one geometric abstraction of at least one detected section of a line lying ahead in the direction of travel of the agricultural vehicle can be determined. The actuation step can be carried out based on the determined at least one geometric abstraction of the at least one detected section of the line lying ahead in the direction of travel of the agricultural vehicle.

The at least one section of a line on the agricultural area can be detected with a surroundings detection sensor system. The environment detection sensor system can be mounted on the agricultural vehicle. The waypoint information can be recorded with the surroundings detection sensors. The waypoint information can also be derived from measurement data from the surroundings detection sensors.

The environment detection sensor system can have a distance-measuring sensor. Alternatively or additionally, the surroundings detection sensor system can have a camera. The distance-measuring sensor can also be designed as a scanning sensor. The distance-measuring sensor can be, for example, a laser scanner, a radar measuring device or an ultrasonic measuring device. The laser scanner, the radar measuring device or the ultrasonic measuring device can be designed as a two-dimensional or three-dimensional scanning sensor. The camera can be designed as an RGB camera or as a multispectral camera. The waypoint information can be derived from a point cloud of the agricultural area recorded with the laser scanner or with the radar measuring device, for example with methods of pattern recognition. Alternatively or additionally, the waypoint information can be derived from an image captured with the camera, for example using image processing methods. The method can thus, based on the step of acquiring the at least one section of the line, also have a recognition of the at least one section of the line in the measurement data acquired by the surroundings acquisition sensor system.

The at least one section of the line can have a straight course section or a curved course section. The at least one section of the line to be recorded on the agricultural area can be act as a linear elevation or depression on the agricultural area. The line to be detected or the at least one section of the line on the agricultural area to be detected can also be an edge, a (raised or recessed) course, a border or a channel on the agricultural area. The channel can be, for example, a vehicle lane in vegetation or on a surface of the agricultural area. An elevated course can be a swath, for example. The at least one section of the line to be detected can also be a vegetation line or a terrain line. The vegetation line can be a mowing edge or a cutting edge on a field, for example. The terrain line can, for example, be the edge of a cultivator in a field.

A further embodiment of the method has, as a further step, the detection of a position of the agricultural vehicle on the agricultural area with at least one component of a satellite positioning system. The component of the satellite positioning system can, for example, be a GNSS receiver. At least one of the determination steps can thus be carried out as a function of a predefined path for driving on the agricultural area and the detected position of the agricultural vehicle. The waypoint information can include vehicle positions to be traveled in a coordinate system of the satellite positioning system. Alternatively or additionally, the waypoint information can be determined offset from the vehicle positions to be traveled. The path can have the vehicle positions, wherein the path can run at least in sections along the vehicle positions. Alternatively or additionally, the path can run offset to the vehicle positions.

The at least one geometric abstraction can be based on the vehicle positions to be traveled. At least one geometric abstraction of at least one vehicle position lying ahead in the direction of travel of the agricultural vehicle can be determined. The actuation step can be carried out based on the determined at least one geometric abstraction from the at least one vehicle position lying ahead in the direction of travel of the agricultural vehicle.

In a further embodiment of the method, the step of determining waypoint information includes determining at least one coordinate of a waypoint to be traveled along the path. The waypoint information can include waypoint coordinates. The waypoint information can be determined in a vehicle coordinate system or in a vehicle-related coordinate system. The vehicle coordinate system can be a coordinate system that travels with the agricultural vehicle. The waypoint information can also be determined in a usable area coordinate system or in a usable area-related coordinate system. The usable area coordinate system can be a spatially fixed coordinate system, for example a coordinate system of a satellite positioning system.

The waypoint information can include location information of at least one waypoint to be traveled. In addition, the waypoint information can have height information from at least one waypoint to be traveled. A waypoint to be traveled along the path can have two-dimensional or positional coordinates in one of the described coordinate systems. Alternatively, a waypoint to be traveled along the path can have three-dimensional coordinates in one of the described coordinate systems. The three-dimensional coordinates can have the two-dimensional or positional coordinates and height information.

In a further embodiment of the method, the step of determining waypoint information includes determining at least one travel speed of the agricultural vehicle for traveling on the path. In addition to location information about a waypoint to be traveled, the waypoint information can also have meta information about the waypoint to be traveled. The meta information can be information that does not define the position or height of a waypoint. The meta information can be information on how this waypoint is to be traveled by the agricultural vehicle. The travel speed of the agricultural vehicle for traveling on a waypoint is an example of such meta information. Further examples can be an acceleration of the agricultural vehicle when driving on the waypoint or a steering configuration when driving on the waypoint.

In a further embodiment of the method, the step of determining waypoint information includes determining the waypoint information in a vehicle-related coordinate system. The waypoint information and the geometric abstraction can thus be determined in a local coordinate system. Thus, in an advantageous manner when performing the Process on a coordinate transformation can be dispensed with.

In a further embodiment of the method, the step of determining the at least one geometric abstraction comprises selecting waypoint information from the waypoint information along the at least one section of the path determined along the path. According to such a selection, at least one waypoint can be selected from the determined waypoint information. At least two waypoints, for example three or four waypoints, can be selected in order to determine the geometric abstraction. Depending on the number of selected waypoints, these can be approximated with a polynomial of the appropriate order. The geometric abstraction can have at least one selected waypoint, based on which the at least one driving dynamics component of the agricultural vehicle can be controlled. Thus, for controlling the at least one driving dynamics component of the agricultural vehicle, point-by-point transfer of waypoint information can be carried out. Thus, in an advantageous manner, not all of the waypoint information or all of the waypoints of a path for controlling the agricultural vehicle can be transmitted, but rather only at least one selected point which can be used for controlling the at least one driving dynamics component.

In a further embodiment of the method, the step of determining the at least one geometric abstraction includes calculating a mathematical waypoint curve function for the at least one section of the path. The at least one section of the path can thus be mathematically approximated based on the waypoint information along the section of the path. The mathematical waypoint course function can have an interpolation or extrapolation of the determined waypoint information which is in the at least one section of the path. The mathematical waypoint curve function can have a polynomial or a spline, which can be derived as mathematical support points based on the waypoint information. The actuation of the at least one driving dynamics component of the agricultural vehicle can thus be based on mathematical parameters or coefficients of the waypoint curve function.

In a further embodiment of the method, the step of determining the at least one geometric abstraction includes calculating curvature information relating to the at least one section of the path. The curvature information can have a curvature or a radius of the at least one section of the path. A steering angle for controlling the at least one driving dynamics component can be calculated based on the curvature or the radius. The steering angle can be a current or future steering angle. The activation of the at least one driving dynamics component can thus also take place based on curvature.

In a further embodiment of the method, the step of determining the at least one geometric abstraction includes determining at least one geometric abstraction from at least one section of the path that is ahead in the direction of travel of the agricultural vehicle and is spaced apart from the agricultural vehicle. The forward and spaced portion of the path may define a look-ahead area along the path to be traveled. The spaced portion of the path may be defined by a distance from the agricultural vehicle to the spaced portion. The distance can be a forecast horizon from which the geometric abstraction is determined. The ahead and spaced portion can be further defined by a further distance from the agricultural vehicle to a portion end of the ahead and spaced portion of the path. The further distance can be a look-ahead limit up to which the spaced-apart portion of the path along the path that is ahead can be defined. The geometrical abstraction can thus be a geometrical abstraction in areas running ahead along the path. Information on a path to be traveled can already be buffered up to the distant section of the path.

A further embodiment of the method has, as a further step, determining the at least one section of the path which is ahead in the direction of travel of the agricultural vehicle and is spaced apart from the agricultural vehicle as a function of a current travel speed of the agricultural vehicle. At least one of the two described distances for defining the distant section ahead can thus be defined as a function of the current travel speed of the agricultural vehicle. The spaced-apart section of the path ahead, the greater the travel speed of the agricultural vehicle, the greater the distance from the agricultural vehicle along the path in the direction of travel in front of it.

In a further embodiment of the method, the step of determining the at least one geometric abstraction includes determining two geometric abstractions of two different sections of the path lying ahead in the direction of travel of the agricultural vehicle. A section of the two sections can thus be taken into account for controlling a transverse dynamic component of the agricultural vehicle in the step of controlling. The other section of the two sections can thus also be taken into account for controlling a longitudinal dynamic component of the agricultural vehicle in the controlling step.

A first geometric abstraction in one section of the two sections can be taken into account for steering the agricultural vehicle when driving a steering system for the agricultural vehicle. The other section of the two sections can also be taken into account for controlling a drive of the agricultural vehicle. The respective activation can be a current or future activation for a corresponding steering or driving of the vehicle.

At least one of the two different sections of the path lying ahead can be defined at a distance from the vehicle in the direction of travel of the vehicle in front of it. The two different sections lying ahead can also overlap or be spaced from one another. One section of the two sections for controlling the transverse dynamic component of the agricultural vehicle can be defined less at a distance from the agricultural vehicle than the other section of the two sections for controlling the longitudinal dynamic component of the agricultural vehicle. A steering can thus be controlled or regulated on the basis of a first forecast area that is closer to the agricultural vehicle or in a near area. In addition, a travel speed or acceleration of the agricultural vehicle can be controlled or regulated based on a more distant, second forecast area or long-range area. At least one of the two sections can be defined as a function of a current driving dynamics variable, for example a current driving speed. The distance between at least one of the two sections can also be determined in this way.

In a further aspect, the invention relates to a control device for performing the steps of the method according to the preceding aspect. The control device can be the control device for controlling the at least one driving dynamics component of the agricultural vehicle.

The control device has a determination unit for determining waypoint information along a path for driving on an agricultural area. The control device also has an abstraction unit for determining at least one geometric abstraction of at least one section of the path ahead in the direction of travel of the agricultural vehicle based on the determined waypoint information. A determination unit for determining the at least one geometric abstraction can have the determination unit for determining the waypoint information and the abstraction unit for determining the at least one geometric abstraction. The units described can be an integral part of the control device.

The control device also has an interface for outputting a control command for controlling at least one driving dynamics component of the agricultural vehicle based on the determined at least one geometric abstraction for following the path. The interface for outputting the control command can be connected to at least one of a transverse dynamic component and a longitudinal dynamic component of the agricultural vehicle. For example, the interface can be connected to a steering system or to a steering control device or to a drive or to a drive control device.

In a further aspect, the invention relates to a control system with a control device according to the preceding aspect. The control system has at least one driving dynamics control device for receiving a control command output by the control device. The control command is one of the control commands described.

The driving dynamics control device can be a transverse dynamics control device for controlling transverse dynamics of the agricultural vehicle. Alternatively or additionally, the driving dynamics control device can be a longitudinal dynamics control device for controlling the longitudinal dynamics of the agricultural vehicle. The lateral dynamics control device can be a control device for controlling the steering of the agricultural Acting vehicle or a steering control of the agricultural vehicle. The longitudinal dynamics control device can be a control device for controlling the drive of the agricultural vehicle or a drive control of the agricultural vehicle.

In a further aspect, the invention relates to an agricultural vehicle with a control system according to the preceding aspect for controlling the agricultural vehicle on an agricultural area. The agricultural vehicle can be one of the agricultural vehicles described.

• 1 zeigt in einer Draufsicht ein landwirtschaftliches Fahrzeug mit einem Steuerungssystem und einer Steuereinrichtung nach einer jeweiligen Ausführungsform der Erfindung auf einer landwirtschaftlichen Nutzfläche zum Erläutern eines Verfahrens zum Steuern des landwirtschaftlichen Fahrzeugs gemäß einer Ausführungsform der Erfindung.
• 2 zeigt ein Ablaufdiagramm von Verfahrensschritten zum Durchführen des Verfahrens zum Steuern des landwirtschaftlichen Fahrzeugs gemäß einer Ausführungsform der Erfindung.

The agricultural vehicle can be designed as an automated agricultural vehicle. The agricultural vehicle can be operated in an automated operation or autonomously on the agricultural area.

• 1 shows in a plan view an agricultural vehicle with a control system and a control device according to a respective embodiment of the invention on an agricultural area to explain a method for controlling the agricultural vehicle according to an embodiment of the invention.
• 2 shows a flowchart of method steps for performing the method for controlling the agricultural vehicle according to one embodiment of the invention.

1 shows an agricultural vehicle 10 when driving on an agricultural area 2 . The agricultural vehicle 10 drives on the agricultural area 2 along a path 15th , the agricultural vehicle 10 currently a lateral offset 3 to the path 15th having. The lateral offset 3 is a set lateral offset 3 or a lateral offset to be corrected 3 . The lateral offset 3 corresponds to an abscissa in a vehicle coordinate system 19th of the agricultural vehicle 10 .

The path 15th for driving on the agricultural area 2 is through a variety of waypoints 15 ' along the path 15th Are defined. In one embodiment, the define waypoints 15 ' the path to be followed 15th . In the direction of travel 11 in front of the agricultural vehicle 10 there are already buffered waypoints 18th based on which the agricultural vehicle 10 the path 15th up-to-date and staggered. The ordinate of the vehicle coordinate system 19th corresponds to the direction of travel 11 . Along the path 15th are two sections lying ahead in the embodiment shown 6th , 8th along the path 15th Are defined. The first paragraph 6th is in the direction of travel 11 of the agricultural vehicle 10 defined at a distance from this. The second section 8th is in the direction of travel 11 of the agricultural vehicle 10 also defined at a distance from this, the second section 8th in the direction of travel 11 of the agricultural vehicle 10 also spaced from the first section 6th is defined. Both sections 6th , 8th exhibit a respective geometric abstraction 30th of the path 15th on.

The geometric abstraction 30th of the first section 6th assigns a choice of waypoint coordinates 32 the waypoints 15 ' of the path 15th on. The second section 8th exhibits as a geometric abstraction 30th a curvature 34 of the second section 8th on. The curvature 34 is based on a selection of waypoints 15 ' in the second section 8th calculated.

For controlling a steering system 12 of the agricultural vehicle 10 , which is designed as a front axle steering in the embodiment shown, becomes a steering control 13 from a control device 40 of the agricultural vehicle 10 controlled. To control the steering 12 via the steering control 13 won't be the waypoints 15 ' along the path 15th from the control device 40 for steering control 13 transferred, but the geometric abstraction 30th of the first section 6th . The control device 40 transmitted based on the geometric abstraction 30th of the first section 6th via an output interface 42 to control the steering 12 a control command to the steering controller 13 .

For controlling a drive 16 of the agricultural vehicle 10 is at least the geometric abstraction 30th of the second section 8th to a drive control 17th transfer. The drive control 17th controls based on the at least one geometric abstraction 30th of the section 8th the drive 16 of the agricultural vehicle 10 . The control device 40 transmitted based on the geometric abstraction 30th of the second section 8th via the output interface 42 another control command to control the drive 16 to the drive control 17th .

The control device 40 , the steering control 13 and the drive control 17th form a control system 50 to control the longitudinal and lateral dynamics of the agricultural vehicle 10 .

2 shows process steps S1 to S4 to control the in 1 shown agricultural vehicle 10 on the agricultural land 2 . The steps S1 to S4 are continuously repeatable in a loop.

In a first step S1 line detection takes place. In this step S1 will the in 1 shown path 15th with an in 1 Environment detection sensor system, not shown, of the agricultural vehicle 10 detected. In one embodiment, it is the path 15th around the ridge of a swath on the agricultural land 2 which the agricultural vehicle 10 laterally offset, as in 1 shown should leave.

In a second step S2 a path is determined. In a first sub-step S2a the second step S2 a waypoint information determination takes place. In the 2 waypoints shown 15 ' along the in the first step S1 captured path 15th be determined. Based on the determined waypoints 15 ' along the path 15th is in a further second substep S2b the second step S2 an abstraction determination carried out. In this second substep S2b become the geometric abstractions 30th of the two in the direction of travel 11 of the vehicle 10 sections ahead 6th , 8th of the path to be followed 15th certainly.

In a further third step S3 a driving dynamics control is carried out. With the in 1 control device shown 40 becomes the steering control 13 for steering the agricultural vehicle 10 based on at least one of the geometric abstractions 30th controlled. In this third step S3 is also with the control device 40 the drive control 17th for driving the agricultural vehicle 10 based on at least one of the geometric abstractions 30th controlled. In a further fourth step S4 becomes the agricultural area 2 with the agricultural vehicle 10 based on the third step S3 gone.

List of reference symbols

2

agricultural land

3

Offset

6, 8

previous section

10

agricultural vehicle

11

Direction of travel

12th

steering

13

Steering control

15th

path

15 '

Waypoint

16

drive

17th

Drive control

18th

buffered waypoints

19th

Vehicle coordinate system

30th

geometric abstraction

32

Waypoint coordinates

34

curvature

40

Control device

42

Output interface

50

Control system

S1

Line acquisition

S2

Path determination

S2a

Waypoint information determination

S2b

Determination of abstraction

S3

Driving dynamics control

S4

Usable area inspection

Claims (15)

Method for controlling an agricultural vehicle (10) on an agricultural area (2), comprising the steps: - Determination (S2a) of waypoint information along a path (15) for driving the agricultural area (2) with the agricultural vehicle (10), - determining (S2b) at least one geometric abstraction (30) of at least one section (6) of the path (15) lying ahead in the direction of travel (11) of the agricultural vehicle (10) based on the determined waypoint information, and - Activation (S3) of at least one driving dynamics component of the agricultural vehicle (10) based on the determined at least one geometric abstraction (30) for traveling (S4) the path (15) with the agricultural vehicle (10). Procedure according to Claim 1 , with the further step of detecting (S1) at least one section of a line on the agricultural area (2), wherein at least one of the steps of determining (S2a, S2b) is performed as a function of the at least one detected section of the line. Procedure according to Claim 1 or 2 , with the further step of detecting (S1) a position of the agricultural vehicle (10) on the agricultural area (2) with at least one component of a satellite positioning system, with at least one of the determining steps (S2a, S2b) depending on a predefined Path for driving on the agricultural Usable area (2) and the detected position of the agricultural vehicle (10) is carried out. Method according to one of the preceding claims, wherein the step of determining (S2a) waypoint information comprises determining at least one coordinate of a waypoint (15 ') to be traveled along the path (15). Method according to one of the preceding claims, wherein the step of determining (S2a) waypoint information comprises determining at least one travel speed of the agricultural vehicle (10) for traveling on the path (15). Method according to one of the preceding claims, wherein the step of determining (S2a) waypoint information comprises determining the waypoint information in a vehicle-related coordinate system (19). Method according to one of the preceding claims, wherein the step of determining (S2b) of the at least one geometric abstraction (30) includes selecting waypoint information from the waypoint information determined along the path (15) along the at least one section (6) of the path (15) ) having. Method according to one of the preceding claims, wherein the step of determining (S2b) of the at least one geometric abstraction (30) comprises calculating a mathematical waypoint progression function for the at least one section (6) of the path (15). Method according to one of the preceding claims, wherein the step of determining (S2b) of the at least one geometric abstraction (30) comprises calculating curvature information for the at least one section (6) of the path (15). Method according to one of the preceding claims, wherein the step of determining (S2b) of the at least one geometric abstraction (30) includes determining at least one geometric abstraction (30) of at least one lying ahead in the direction of travel (11) of the agricultural vehicle (10) and to the agricultural vehicle (10) spaced section (6) of the path (15). Procedure according to Claim 10 , with the further step of determining the at least one section (6) of the path (15) lying ahead in the direction of travel (11) of the agricultural vehicle (10) and spaced apart from the agricultural vehicle (10) as a function of a current travel speed of the agricultural vehicle ( 10). Method according to one of the preceding claims, wherein the step of determining (S2b) of the at least one geometric abstraction (30) is determining two geometric abstractions (30) of two different sections ahead in the direction of travel (11) of the agricultural vehicle (10) (6, 8) of the path (15), one section (6) of the two sections (6, 8) for controlling a transverse dynamic component of the agricultural vehicle (10) and the other section (8) of the two sections (6, 8) ) for controlling a longitudinal dynamic component of the agricultural vehicle (10) is taken into account in the controlling step (S3). Control device (40) for performing the steps of a method according to one of the preceding claims, with a determination unit for determining waypoint information along a path (15) for driving on an agricultural area (2), an abstraction unit for determining at least one geometric abstraction of at least one section (6) of the path (15) lying ahead in the direction of travel (11) of the agricultural vehicle (10) based on the determined waypoint information, and an interface (42) for outputting a control command for controlling at least one driving dynamics component of the agricultural vehicle (10) on the determined at least one geometric abstraction for following the path (15). Control system (50) with a control device (40) Claim 13 and at least one driving dynamics control device (13, 17) for receiving one from the control device (40) after Claim 13 output control command. Agricultural vehicle (10) with a control system (50) according to Claim 14 for controlling an agricultural vehicle (10) on an agricultural area (2).

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