System and method for collision mitigation during machine articulation

A collision mitigation system integrated in an articulated work vehicle, the system comprising:

• a steering system configured to provide controlled articulation of the front frame relative to the rear frame about the hitch based on a driver control input that is received by a driver while operating the articulated work vehicle;
• a memory configured to store program instructions and sensor signals;
• and
• a controller in communication with the memory and the steering system, the controller configured to:
• determine a safe-zone around the articulated work vehicle based on signals from a first sensor system corresponding to sensed objects around the articulated work vehicle;
• determine a position and velocity of one or more peripheral points on the articulated work vehicle based on signals from the set of sensor systems operatively coupled to the articulated work vehicle;
• receive a driver control input, which is received by a driver while driving the articulated work vehicle, to control articulation of a front frame relative to a rear frame about a hitch of the articulated work vehicle;
• responsive to the receiving the driver control input to control articulation of the front frame relative to the rear frame about the hitch, determine whether to apply a limit to the driver control input by comparing a desired driver operator articulation angle associated with the received driver control input to the determined safe-zone around the articulated work vehicle;
• responsive to said determining whether to apply the limit, apply the limit to the driver control input when a peripheral point on the articulated work vehicle is expected to be within a predetermined distance to a nearest edge of the safe-zone;
• and
• control the steering system according to the limit to the driver control input.

A method for mitigating collisions for an articulated work vehicle using a collision mitigation system implemented in the articulated work vehicle, the method comprising:

• determining, using circuitry of the articulated work vehicle, a safe-zone around the articulated work vehicle based on signals from a first sensor system corresponding to sensed objects around the articulated work vehicle;
• receiving, using the circuitry of the articulated work vehicle, signals from the set of sensor systems operatively coupled to the articulated work vehicle;
• determining, using the circuitry of the articulated work vehicle, a position and velocity of one or more peripheral points on the articulated work vehicle based on signals from the set of sensor systems operatively coupled to the articulated work vehicle;
• receiving, using the circuitry of the articulated work vehicle, a driver control input, which is received by a driver while operating the articulated work vehicle, to control articulation of a front frame relative to a rear frame about a hitch of the articulated work vehicle;
• responsive to said receiving the driver control input to control articulation of the front frame relative to the rear frame about the hitch, determining, using the circuitry of the articulated work vehicle, whether to apply a limit to the driver control input by comparing a desired driver operator articulation angle associated with the received driver control input to the determined safe-zone around the articulated work vehicle;
• responsive to said determining whether to apply the limit, applying, using the circuitry of the articulated work vehicle, the limit to the driver control input when a peripheral point on the articulated work vehicle is expected to be within a predetermined distance to a nearest edge of the safe-zone;
• and
• controlling, using the circuitry of the articulated work vehicle, the steering system according to the limit to the driver control input.