Carry-scraper steering control method and device based on contour model and carry-scraper

The invention discloses a carry-scraper steering control method and device based on a contour model and a carry-scraper, and belongs to the field of carry-scraper control. The method comprises the following steps: acquiring contour information and walking information of the carry-scraper; determining position deviation and direction deviation according to the contour information and the walking information; if the position deviation is larger than a first preset threshold value and the direction deviation is larger than a second preset threshold value, whether the movement direction of the vehicle body deviates from the path direction or not is judged according to the walking information; if yes, the opening of the reversing valve is adjusted according to a preset enlarging strategy; if not, the opening of the reversing valve is adjusted according to a preset decreasing strategy; if the position deviation is larger than a first preset threshold value and the direction deviation is smaller than or equal to a s