ВАН Гопин (US),МОРЗЕЛЛИ Риккардо (IT),ВАНЕРКЕ Оливир (BE),ФОСТЕР Кристофер (US)
申请号：
RU2013142426/13
公开号：
RU2013142426A
申请日:
2011.11.30
申请国别(地区):
RU
年份:
2015
代理人:
摘要：
1. A method of controlling a vehicle’s path during an unloading operation on the go with a sweeper, including: driving the sweeper along an unknown path； determining the position and speed of the sweeper； determining the position and speed of the vehicle； determining the position of the discharge pipe for sweeper； calculation of the points of the future path for the sweeper using the determined position and speed of the sweeper； calculation of the path for the vehicle, using the calculated points of the future trajectory, the determined position of the discharge pipe, the determined position and speed of the vehicle, and the determined position and speed of the sweeper； and driving the vehicle in such a way as to follow the calculated path using controller commands. 2. The method according to claim 1, wherein calculating the points of the future path includes: measuring the yaw rate for the harvester； calculating the predicted path for the harvester using the measured yaw rate and the set position and speed for the harvester； obtaining a predetermined range of distances and a given number of path points ； and calculating points of the future trajectory using the calculated predicted trajectory, a given distance interval and a given number of trajectory points. 3. The method according to claim 2, wherein the calculation of the predicted trajectory includes: creating an arc passing through the current position for the harvester and located tangentially to the current speed direction for the harvester, while the generated arc has �1. Способ управления траекторией транспортного средства во время операции разгрузки на ходу с уборочной машиной, включающий:приведение в движение уборочной машины вдоль неизвестной траектории движения；определение положения и скорости для уборочной машины；определение положения и скорости для транспортного средства；определение положения выгрузной трубы для уборочной машины；расчет точек будущей траектории для уборочной машины, используя определя
