DOI：10.6041/j.issn.1000-1298.2023.10.001
摘要:农业装备自动驾驶技术可以显著提升作业质量，提高作业效率，降低作业成本，减轻劳动强度，已成为智能农业装备发展的重要方向。在政策和市场的共同推动下，我国农业装备自动驾驶技术发展迅速，并通过多场景、多层次的示范和应用推动技术熟化，逐步建立了完整的技术体系。农业装备自动驾驶技术系统主要包括环境感知、工况感知、决策规划、横向控制、纵向控制等关键技术。本文首先阐述了农业装备自动驾驶关键技术研究的现状，分析归纳了各技术领域有待解决的关键科学技术问题；结合农业装备自动导航技术产品和自动驾驶技术集成应用两方面，介绍了国内外农业装备自动驾驶技术研发和应用情况；从自动驾驶技术分级研究和建立标准规范角度，对比分析了农业装备自动驾驶与智能网联汽车行业的差距，指出了农业装备自动驾驶等级划分的迫切需求。为应对智慧农业生产非结构环境、高精度农艺和强农时约束三大挑战，建议突出农业生产应用中作业精准化和驾驶自动化双重需求的特点，有针对性地开展农业装备自动驾驶技术研发、应用示范和技术分级等方面工作。
关键词: 农机自动驾驶 环境感知 决策规划 自动导航 自动驾驶分级
Research Status and Prospects of Agricultural Machinery Autonomous Driving
Abstract:Agricultural machinery autonomous driving can improve work quality, enhance operational efficiency, reduce operating costs, and alleviate labor intensity. Autonomous driving technology for agricultural machinery is an important direction in the development of intelligent agricultural machinery systems. Driven by both policies and the market, China's autonomous driving technology for agricultural machinery has been rapidly developing and is gradually maturing through demonstration applications. The technological system for agricultural machinery autonomous driving is also being gradually established. Elementary technologies of agricultural machinery autonomous driving included environmental perception, working condition perception, decision-making and planning, lateral control, and longitudinal control. Firstly, the current status of key technology research for agricultural machinery autonomous driving was elaborated and the key scientific and technological issues that needed to be addressed were analyzed. And then the domestic and international research and application of agricultural machinery automatic driving products was introduced from the perspectives of automatic navigation technology and the integration and application of automatic driving systems. A comparison was made between the gap in grading standards and specifications for agricultural machinery autonomous driving and the intelligent connected vehicle industry, highlighting the urgent need for the classification of agricultural machinery autonomous driving. Finally, the main roles of agricultural machinery autonomous driving technology were summarized, and the future development directions for agricultural machinery autonomous driving were outlined. To address the challenges posed by the non-structured environment, high-precision agronomy, and time constraints in smart agricultural production, it was recommended to emphasize the dual requirements of precision operation and driving automation in agricultural production applications. Specifically, targeted efforts should be undertaken in the development of agricultural equipment autonomous driving technology, application demonstrations, and technological grading.
Key Words:autonomous driving for agricultural machinery environmental perception decision-making and planning automatic navigation taxonomy of driving automation
