Single-mode implement steering
AssigneeAgjunction LLC
InventorsEran D. B. Medagoda, Timothy J. Sullivan, Brendan M. Joiner, Andreas F. Ramm, Tri M. Dang
Life of this patent
Estimating the term…
Abstract
A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.
Claims9
A guidance system comprising:
- a processor;
- and
- memory coupled to the processor and storing instructions that, when executed by the processor, cause the guidance system to:
- calculate a vehicle heading error based on a heading of the vehicle relative to a path;
- calculate a trailer heading error for a trailer attached to the vehicle based on a heading of the trailer relative to the path;
- calculate a trailer cross-track error based on a distance of the trailer from the path;
- calculate a vehicle curvature error based on the vehicle heading error, trailer heading error, and trailer cross-track error;
- and
- use the vehicle curvature error to steer the vehicle and move the trailer toward the path, wherein:
- e
- κ
- v
- =
- [
- K
- 1
-
- K
- 2
-
- K
- 3
- ]
-
- [
- e
- ψ
- v
- e
- ψ
- t
- e
- ct
- t
- ]
- +
- K
- int
-
- ∫
- e
- ct
- t
-
- dt
- ,
- eKv is the vehicle curvature error,
- eψv is the vehicle heading error,
- eψt is the trailer heading error,
- ectt is the trailer cross-track error,
- K1, K2, and K3 are gain values for a steering controller, and
- Kint is an integral term that acts to minimize the trailer cross-track error.
A non-transitory computer-readable medium storing instructions that, when executed by a processor, are operable to cause a guidance system to:
- calculate a vehicle heading error based on a heading of the vehicle relative to a path;
- calculate a trailer heading error for a trailer attached to the vehicle based on a heading of the trailer relative to the path;
- calculate a trailer cross-track error based on a distance of the trailer from the path;
- calculate a vehicle curvature error based on the vehicle heading error, trailer heading error, and trailer cross-track error;
- and
- use the vehicle curvature error to steer the vehicle and move the trailer toward the path, wherein:
- e
- κ
- v
- =
- [
- K
- 1
-
- K
- 2
-
- K
- 3
- ]
-
- [
- e
- ψ
- v
- e
- ψ
- t
- e
- ct
- t
- ]
- +
- K
- int
-
- ∫
- e
- ct
- t
-
- dt
- ,
- eKv is the vehicle curvature error,
- eψv is the vehicle heading error,
- eψt is the trailer heading error,
- ectt is the trailer cross-track error,
- K1, K2, and K3 are gain values for a steering controller, and
- Kint is an integral term that acts to minimize the trailer cross-track error.
A method comprising:
- calculating, by a guidance system, a vehicle heading error based on a heading of the vehicle relative to a path;
- calculating, by the guidance system, a trailer heading error for a trailer attached to the vehicle based on a heading of the trailer relative to the path;
- calculating, by the guidance system, a trailer cross-track error based on a distance of the trailer from the path;
- calculating, by the guidance system, a vehicle curvature error based on the vehicle heading error, trailer heading error, and trailer cross-track error;
- and
- using the vehicle curvature error, by the guidance system, to steer the vehicle and move the trailer toward the path, wherein:
- e
- κ
- v
- =
- [
- K
- 1
-
- K
- 2
-
- K
- 3
- ]
-
- [
- e
- ψ
- v
- e
- ψ
- t
- e
- ct
- t
- ]
- +
- K
- int
-
- ∫
- e
- ct
- t
-
- dt
- ,
- eKv is the vehicle curvature error,
- eψv is the vehicle heading error,
- eψt is the trailer heading error,
- ectt is the trailer cross-track error,
- K1, K2, and K3 are gain values for a steering controller, and
- Kint is an integral term that acts to minimize the trailer cross-track error.
Dependencies are inferred from the claim text.