Tractor Automatic Driving Assistance System Based on Beidou Navigation

This study developed a tractor automatic driving assistance system based on the Lovol Leopard M504-E tractor, Beidou Satellite Navigation System (BDS), and inertial navigation system in response to the application demand for unmanned operation of agricultural machinery. This system is made up of two parts: a hardware platform and a software control system. The CAN bus is used for communication by both the hardware platform and the software control system. The tractor outfitted with the automatic driving assistance system discussed in this paper is used for film covering operations, and it is compared to field film covering operations driven by humans. The results show that the automatic assisted driving system proposed in this paper for field film covering operation has an average lateral deviation of 5.1 cm and an average operating speed of 1.47 m/s. During stable operation, the average standard deviation of engine speed is 8.84 r/min. This system is more accurate and stable than driver-driven operation.