HARVESTING VEHICLE PROVIDED OF A SELF-LEVELLING SYSTEM

A method for calculating in advance a lateral slope variation during harvesting operation, by means of a 3D sensor (3DS), such as a LiDAR, stereocamera, a RADAR, or an ultrasonic array, interfaced with processing means (CPU) of an agricultural vehicle (V), the method comprising the following steps in the same order cyclically executed: (Step 1) acquisition of a pointcloud, wherein each point of the pointcloud has an associated value representing a corresponding reflectance or RGB colour, (Step 2) selection of a bottom left and a bottom right areas, (Step 3) association to each point of the selected areas of a weight (wi) which is inversely proportional to the height (yi) of the point in the pointcloud and inversely proportional to its reflectance or brightness (ii), then (Step 4) calculation of a linear regression on the selected points, having coordinates (xi,yi) and their corresponding weights wi, approximating the terrain profile, (Step 5) calculation of the angle (α) of the lateral slope from the linear regression, then (Step 6) Controlling of the vehicle geometry on the basis at least of said angle to compensate such lateral slope variation.