SYSTEM AND METHOD OF LANE TRACKING FOR OFF-ROAD VEHICLE AND OFF-ROAD VEHICLE Russian patent published in 2020 - IPC A01B69/04 G05D1/02 G01S19/13 

FIELD: agriculture.

SUBSTANCE: group of inventions relates to agriculture. Tracking system for an off-road vehicle comprises a control system comprising a processor and a storage device. Control system is configured to receive multiple points of vehicle location and current state of vehicle, wherein current state of vehicle comprises current location of vehicle. Control system is configured to generate a planned trajectory of the vehicle through one or more of the plurality of locations of the vehicle, generating correcting path from current vehicle location to point along planned vehicle path forward from current vehicle location in direction of movement, formation of combined trajectory by means of combination of planned trajectory of vehicle and correcting trajectory at least partially based on assigned weight coefficient, wherein assigned weight coefficient is at least partially based on course error, distance between current location of vehicle and planned trajectory or combination thereof. Control system is configured to direct an off-road vehicle along a combined trajectory. Off-road vehicle comprises a steering control system configured to control the off-road vehicle direction of movement, speed control system configured to control speed of off-road vehicle movement, device for determining location in space, configured to determine the current state of vehicle for an off-road vehicle and a control system. Control system is configured to receive a plurality of vehicle location points, generate a planned vehicle trajectory through one or more of the plurality of vehicle location points, receiving current state of vehicle from device for determining location in space, wherein current state of vehicle comprises current location of vehicle. Control system is configured to generate correcting path from current vehicle location to one of plurality of vehicle location points along planned vehicle path forward from current vehicle location in direction of movement, formation of combined trajectory by means of combination of planned trajectory of vehicle and correcting trajectory at least partially based on assigned weight coefficient, wherein assigned weight coefficient is at least partially based on course error, distance between current location of vehicle and planned trajectory or combination thereof. Control system is configured to control steering control system and speed control system to direct off-road vehicle along combined trajectory. Method for tracking a lane for an off-road vehicle comprises the steps of receiving, by the control system, a plurality of vehicle location points, the current state of the vehicle and the feedback delay time, wherein current state of vehicle comprises current location of vehicle. Further, by means of the control system, the planned trajectory of the vehicle is formed through one or more of the plurality of vehicle location points, correcting path is generated by means of control system from current vehicle location to one of plurality of vehicle location points along planned vehicle path forward from current vehicle location in direction of movement, combined control path is formed by aligning trajectory of vehicle and correcting trajectory at least partially based on assigned weight coefficient, wherein assigned weight coefficient is at least partially based on course error, distance between current location of vehicle and planned trajectory or combination thereof. Further, the off-road vehicle is directed along the combined trajectory by means of the control system.

EFFECT: reduced possibility of deviation or convergence of vehicle from planned trajectory.

20 cl, 6 dwg