Autonomous driving system through rows of a plantation

A non-transitory computer-readable storage medium comprising a recorded program that, when executed, causes a computer to:

• acquire a known approximate distance (D) between two consecutive rows of a plantation;
• acquire signals by a radar;
• process of the signals to obtain a two-dimensional map of points corresponding to reflections picked up by the radar by deleting points whose intensity is outside of a pre-established range;
• perform a first linear interpolation to obtain a first interpolating line (IN1) on points of greatest intensity;
• generate a window of an elongated area of the two-dimensional map having an axis of development approximately parallel to the first interpolating line;
• perform a second linear interpolation of a second interpolating line (IN2), approximately parallel to the first interpolating line (IN1), on points of greater intensity in the window;
• in response at least in part to the second interpolating line (IN2) being positioned outside a distance threshold of the known approximate distance (D) from the first interpolating line (IN1):
• adjust the pre-established range and reperform the first linear interpolation or the second linear interpolation by deleting points whose intensity is outside of the adjusted pre-established range to calculate an updated first interpolating line or an updated second interpolating line, and
• select a pair of the updated interpolating line and the second updated interpolating line (i) having a mutual distance within the distance threshold of the known approximate distance (D) or (ii) maximizing interpolation coefficients of the first and second interpolating lines (IN1, IN2);
• in response at least in part to the second interpolating line (IN2) being positioned within the distance threshold from the updated first interpolating line (IN2), calculate a trajectory (T) parallel and intermediate between the first and second interpolating lines (IN1, IN2);
• and
• autonomously operate one or more of a propulsion system, a braking system, or a steering system of an agricultural vehicle to advance the agricultural vehicle between the two consecutive rows along the trajectory (T).

An autonomous drive system comprising:

• a radar;
• and
• processing means operatively connected to the radar, wherein the processing means is configured to control a propulsion system, a braking system, and a vehicular steering system of an agricultural vehicle, wherein the processing means is configured to:
• acquire a known approximate distance (D) between two consecutive rows of a plantation;
• acquire signals by the radar;
• process of the signals to obtain a two-dimensional map of points corresponding to reflections picked up by the radar by deleting points whose intensity is outside of a pre-established range;
• perform a first linear interpolation to obtain a first interpolating line (IN1) on points of greatest intensity;
• generate a window of an elongated area of the two-dimensional map having an axis of development approximately parallel to the first interpolating line;
• perform a second linear interpolation of a second interpolating line (IN2), approximately parallel to the first interpolating line (IN1), on points of greater intensity in the window;
• in response at least in part to the second interpolating line (IN2) being positioned outside a distance threshold of the known approximate distance (D) from the first interpolating line (IN1):
• adjust the pre-established range and reperform the first linear interpolation or the second linear interpolation by deleting points whose intensity is outside of the adjusted pre-established range to calculate an updated first interpolating line or an updated second interpolating line, and
• select a pair of the updated interpolating line and the second updated interpolating line (i) having a mutual distance within the distance threshold of the known approximate distance (D) or (ii) maximizing interpolation coefficients of the first and second interpolating lines (IN1, IN2);
• in response at least in part to the second interpolating line (IN2) being positioned within the distance threshold from the first interpolating line (IN2), calculate a trajectory (T) parallel and intermediate between the first and second interpolating lines (IN1, IN2);
• and
• autonomously operate one or more of the propulsion system, the braking system, or the vehicular steering system of the agricultural vehicle to advance the agricultural vehicle between the two consecutive rows along the trajectory (T).