Field turning and splicing row optimization control method for automatic driving agricultural machine

The invention relates to a field turning and turning spliced row optimization control method for an automatic driving agricultural machine. A complete turning and turning path is decomposed into an operation path, a first section of arc path, a row crossing linear path, a second section of linear path and a next operation path; the distance from a point to a straight line is used as a judgment basis for agricultural machine path switching; taking the course angle variation or the steering track characteristic information as a judgment basis for ending the steering arc section of the agricultural machine; taking the ratio of the actual turning radius to the target turning radius as a ground slip coefficient; only the heading deviation of the agricultural machine is adjusted on the cross-row linear path section; and the target steering angle and the arc end point position are corrected on the second turning arc road section, and the deflection angle of the guide wheel is corrected. By optimizing the judgment ba