Arrangement and method for guiding an agricultural vehicle in a field with sensor fusion

A method for guiding an agricultural vehicle across a field, comprising the following steps:

• a visual sensor system directed at the field transmits signals to an image processing system, the image processing system is configured to identify features of the field in the image signal of the visual sensor system and calculates a first path to be driven by the vehicle;
• a navigation unit is configured to determine the position of a reference point on the vehicle;
• an electronic memory to store waypoints for a second path of the vehicle to be covered;
• a path calculator configured to transform the first path, the second path, or both into a common coordinate system, and
• a fusion unit is configured to merge the first path and the second path and to feed a signal to a steering controller on the basis of the fused path to steer the vehicle along the fused path and to store waypoints for positions passed by the vehicle, wherein the waypoints are calculated on the basis of the fused path in a memory, and wherein the first path and the second path comprise more than two waypoints and/or that the path calculator or the image processing system is configured to select features of the field to determine the first path on the basis of the second path.