US Patent 11606895 Automatic steering of an agricultural machine on an agricultural surface

A method for automatically steering an agricultural machine on an agricultural area that is to be worked. The method includes optically detecting a first region of the area that is to be worked lying in a direction of travel of the agricultural machine in a first recording via a first optical sensor in a first position with a first viewing direction. The method further includes optically detecting a second region of the area that is to be worked lying in the direction of travel of the agricultural machine in a second recording via a second optical sensor in a second position with a second viewing direction. The method additionally includes detecting a tramline in the first recording and detecting a tramline in the second recording, determining a first trajectory and a second trajectory, and determining a steering signal based on the first trajectory and/or the second trajectory.