阅读说明：本技术 用于控制农用车辆的方法和控制系统 (Method and control system for controlling an agricultural vehicle ) 是由 T·伊科宁 M·阿拉瓦 于 2020-03-12 设计创作，主要内容包括：本发明描述了一种用于在农用地上控制农用车辆的方法。根据农用车辆的行驶速度确定用于驶过农用地的路径。将关于特定路径的几何信息从可携带在农用车辆上的移动终端设备通过接口传送到用于沿路径控制农用车辆的控制装置。在考虑到所传送的几何信息和农用车辆的行驶速度的情况下,检验驶过路径是否对农用车辆的行驶动态产生超过预先定义的行驶动态极限值的行驶动态影响。根据检验结果操控农用车辆的行驶动态部件。本发明此外描述了一种具有用于执行方法的控制装置和移动终端设备的控制系统,和一种农用车辆。(A method for controlling an agricultural vehicle on an agricultural floor is described. A path for driving through the agricultural land is determined according to the driving speed of the agricultural vehicle. Geometrical information about a specific path is transmitted from a mobile terminal device, which can be carried on the agricultural vehicle, via an interface to a control device for controlling the agricultural vehicle along the path. In consideration of the transmitted geometric information and the driving speed of the agricultural vehicle, it is checked whether the driving path has a driving dynamics influence on the driving dynamics of the agricultural vehicle which exceeds a predefined driving dynamics limit value. And controlling the running dynamic component of the agricultural vehicle according to the inspection result. The invention further relates to a control system having a control device and a mobile terminal for carrying out the method, and to an agricultural vehicle.)

1. A method for controlling an agricultural vehicle (10) on an agricultural land (2), the method having the steps of:

-determining (S1) a leading section (6) of a path (15) in a driving direction (11) of the agricultural vehicle (10) as a function of a driving speed of the agricultural vehicle (10), the leading section being for driving (S4) the agricultural land (2) along the path (15) up to a leading distance (16),

-transmitting (S2) geometrical information about a specific section (6) of the path (15) from a mobile terminal device (52) that is portable on the agricultural vehicle (10) through a terminal device-vehicle interface (62) to a control means (60) for controlling the agricultural vehicle (10) along the path (15),

-checking (P1) whether driving (S4) the leading section (6) has a driving dynamics effect on the driving dynamics of the agricultural vehicle (10) that exceeds a predefined driving dynamics limit value, taking into account the transmitted geometric information and the driving speed of the agricultural vehicle (10), and

-manipulating (S3) at least one driving dynamics component of the agricultural vehicle (10) according to the checking result of the checking (P1) step.

2. A method according to claim 1, wherein in the step of determining (S1), the leading segment (6) of the path (15) is additionally determined starting from a further leading distance (16') of the agricultural vehicle (10) along the path (15).

3. Method according to claim 1 or 2, having the further step of conveying a travel speed profile along a specific section (6) of the path (15), wherein the step of checking (P1) is also performed taking into account the conveyed travel speed profile.

4. Method according to any of the preceding claims, having the further step of calculating curvature information about a leading segment (6) of the path (15) in the direction of travel (11) of the agricultural vehicle (10) based on the transferred geometrical information, wherein the step of verifying (P1) comprises: checking (S4) whether the leading section (6) has a driving dynamics effect when driving (S4) by taking into account the calculated curvature information and the driving speed of the agricultural vehicle (10) along the leading section (6).

5. The method according to any one of the preceding claims, wherein the step of verifying (P1) comprises: while driving (S4) over the leading section (6), it is checked whether an inertial force exceeding a predefined force acts on the agricultural vehicle (10).

6. The method according to any one of the preceding claims, having the further step of: detecting (H) the surroundings of the agricultural vehicle (10) for detecting obstacles of a leading section (6) in the driving direction (11) of the agricultural vehicle (10) along the path (15) with an environment detection sensor system; and if an obstacle is detected, performing a further check (P2): driving (S4) the leading segment (6) with consideration of the detected obstacle, whether there is a risk of collision between the agricultural vehicle (10) and the detected obstacle.

7. The method according to any one of the preceding claims, wherein the step of further verifying (P2) comprises verifying: whether there is sufficient reaction time to brake the agricultural vehicle (10) while driving (S4) over the leading segment (6).

8. Method according to any of the preceding claims, having the further step of transmitting the geometrical information in a memory unit of the control device (60).

9. A control system (70) with a mobile terminal device (52) and a control device (60) for performing the steps of the method according to any one of the preceding claims.

10. An agricultural vehicle (10) having a control system (70) for controlling the agricultural vehicle (10) on an agricultural land (2) according to claim 9.