# US 10,372,126 B2 · Dynamic in-cabin autonomous vehicle control systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,126 B2 - Document ID: US10372126B2 - Status: Granted - Kind: B2 - Application number: 15/166,734 - Filed: 2016-05-27 - Published: 2017-11-30 - Granted: 2019-08-06 - Earliest claimed: 2016-05-27 - Assignees: CNH Industrial America LLC; Autonomous Solutions, Inc. - Applicants: CNH Industrial America LLC; Autonomous Solutions, Inc. - Inventors: Christopher A. Foster; John H. Posselius; Bret T. Turpin; Daniel J. Morwood - Web page: https://patentgrep.com/patent/US10372126B2 ## CPC - A01B 69/008: {automatic} - A01B 69/00: Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0295: {by at least one leading vehicle of the fleet} - B62D 49/06: adapted for multi-purpose use - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract One embodiment describes a control system in an automation system including a first portion located at a first vehicle, which includes a first autonomous module that autonomously controls operation of the first vehicle to perform operations in a first area based at least in part on a first target operation result while the first portion is in an autonomous mode; and a second portion located at a second vehicle, in which the second portion includes a second autonomous module that autonomously controls operation of the second vehicle to perform operations in a second area based at least in part on a second target operation result while the second portion is in the autonomous mode and a first command module that determines the first target operation result and the second target operation result based at least in part on a global plan that indicates a total target operation result. ## Claims ### Claim 1 A control system configured to facilitate controlling operation of an agricultural automation system, comprising: a first portion located at a first autonomous agricultural vehicle, wherein the first portion of the control system comprises: a first autonomous module configured to autonomously control operation of the first autonomous agricultural vehicle to perform first agricultural operations in a first area of a field based at least in part on a first target operation result while the first portion of the control system is in an autonomous mode; and a first command module; and a second portion located at a second autonomous agricultural vehicle, wherein the second portion is communicatively coupled to the first portion of the control system via a network and comprises: a second autonomous module configured to autonomously control operation of the second autonomous agricultural vehicle to perform second agricultural operations in a second area of the field based at least in part on a second target operation result while the second portion of the control system is in the autonomous mode; and a second command module; wherein the control system is configured to: deactivate the first command module located at the first autonomous agricultural vehicle and activate the second command module located at the second autonomous agricultural vehicle when an operator is located at the second autonomous agricultural vehicle to enable the operator to centrally monitor and control operation of the agricultural automation system from the second autonomous agricultural vehicle; and activate the first command module located at the first autonomous agricultural vehicle and deactivate the second command module located at the second autonomous agricultural vehicle when the operator is located at the first autonomous agricultural vehicle to enable the operator to centrally monitor and control operation of the agricultural automation system from the first autonomous agricultural vehicle; wherein an activated command module in the control system is configured to determine the first target operation result and the second target operation result based at least in part on a global plan that indicates a total target operation result of the agricultural automation system. ### Claim 2 (depends on 1) The control system of claim 1, wherein the second portion of the control system is configured to: receive user inputs from the operator via one or more input devices within the second autonomous agricultural vehicle; instruct the second autonomous agricultural vehicle to adjust operation based at least in part on the user inputs when the second portion of the control system is in a manual mode to enable the operator to manually control operation of the second autonomous agricultural vehicle; and when a disturbance condition affecting operation of the first autonomous agricultural vehicle is detected: instruct the first portion of the control system to switch to the manual mode; communicate the user inputs to first portion of the control system via the network; and instruct the first portion of the control system to adjust operation of the first autonomous agricultural vehicle based at least in part on the user inputs to enable the operator to manually control operation of the first autonomous agricultural vehicle from the second autonomous agricultural vehicle. ### Claim 3 (depends on 1) The control system of claim 1, wherein: the first target operation result is configured to indicate the first area in the field, first target locations in the first area at which to perform the first agricultural operations, density with which to perform the first agricultural operations in the first area, spacing with which to perform the first agricultural operations in the first area, or any combination thereof; the second target operation result is configured to indicate the second area in the field, second target locations in the second area at which to perform the second agricultural operations, density with which to perform the second agricultural operations in the second area, spacing with which to perform the second agricultural operations in the second area, or any combination thereof; and the global plan comprises the first target operation result and the second target operation result. ### Claim 4 (depends on 1) The control system of claim 1, wherein: when the first command module located at the first autonomous agricultural vehicle is activated, the second command module is configured to: receive sensor data from one or more sensors; and instruct a first display in a first cabin of the first autonomous agricultural vehicle to present a visual representation of the sensor data to enable the operator to control and monitor operation of the agricultural automation system based at least in part on the sensor data and information gathered by the operator while located in the first cabin of the first autonomous agricultural vehicle; and when the second command module located at the second autonomous agricultural vehicle is activated, the second command module is configured to: receive the sensor data from the one or more sensors; and instruct a second display in a second cabin of the second autonomous agricultural vehicle to present the visual representation of the sensor data to enable the operator to control and monitor operation of the agricultural automation system based at least in part on the sensor data and information gathered by the operator while located in the second cabin of the second autonomous agricultural vehicle. ### Claim 5 (depends on 1) The control system of claim 1, wherein: the first autonomous module located at the first autonomous agricultural vehicle is configured to: determine first operational parameters to achieve the first target operation result of the first autonomous agricultural vehicle; and instruct the first autonomous agricultural vehicle to implement the first operational parameters; and the second autonomous module located at the second autonomous agricultural vehicle is configured to: determine second operational parameters to achieve the second target operation result of the second autonomous agricultural vehicle; and instruct the second autonomous agricultural vehicle to implement the second operational parameters. ### Claim 6 (depends on 1) The control system of claim 1, wherein: the first portion of the control system is configured to instruct the first autonomous agricultural vehicle to tow a first agricultural attachment to facilitate performing the first agricultural operations at first target locations in the first portion of the field indicated by the first target operation result; and the second portion of the control system is configured to instruct the second autonomous agricultural vehicle to tow a second agricultural attachment to facilitate performing the second agricultural operations at second target locations in the second portion of the field indicated by the second target operation result. ### Claim 7 (depends on 1) The control system of claim 1, wherein the first autonomous agricultural vehicle and the second autonomous agricultural vehicle each comprises a tractor, an off-road vehicle, or a work vehicle. ### Claim 8 An agricultural automation system comprising: a first autonomous agricultural vehicle, wherein the first autonomous agricultural vehicle comprises a first autonomous module configured to autonomously control operation of the first autonomous agricultural vehicle to perform first agricultural operations in a first area of a field based at least in part on a first target operation result while the first autonomous agricultural vehicle is in an autonomous mode; and a second autonomous agricultural vehicle, wherein the second autonomous agricultural vehicle comprises: a second autonomous module configured to autonomously control operation of the second autonomous agricultural vehicle to perform second agricultural operations in a second area of the field based at least in part on a second target operation result while the second autonomous agricultural vehicle in the autonomous mode; a command module is configured to determine the first target operation result and the second target operation result based at least in part on a global plan that indicates a total target operation result of the agricultural automation system when activated; and one or more input devices configured to receive user inputs at the second autonomous agricultural vehicle, wherein the second autonomous agricultural vehicle is configured to communicate a user input received via the one or more input devices at the second autonomous agricultural vehicle to the first autonomous agricultural vehicle to enable an operator to manually control operation of the first autonomous agricultural vehicle from the second autonomous agricultural vehicle when the first autonomous agricultural vehicle is in a manual mode. ### Claim 9 (depends on 8) The agricultural automation system of claim 8, wherein: the one or more input devices comprise a steering wheel; the user input comprises actuation of the steering wheel; and when the first autonomous agricultural vehicle is in the manual mode: the second autonomous agricultural vehicle is configured to communicate the actuation of the steering wheel at the second autonomous agricultural vehicle to the first autonomous agricultural vehicle; and the first autonomous agricultural vehicle is configured to adjust travel direction based at least in part on the actuation of the steering wheel at the second autonomous agricultural vehicle. ### Claim 10 (depends on 8) The agricultural automation system of claim 8, wherein: the one or more input devices comprise a pedal, wherein the pedal comprises a gas pedal or a brake pedal; the user input comprises depression of the pedal; and when the first autonomous agricultural vehicle is in the manual mode: the second autonomous agricultural vehicle is configured to communicate the depression of the pedal at the second autonomous agricultural vehicle to the first autonomous agricultural vehicle; and the first autonomous agricultural vehicle is configured to adjust travel speed based at least in part on the depression of the pedal at the second autonomous agricultural vehicle. ### Claim 11 (depends on 8) The agricultural automation system of claim 8, wherein the second autonomous agricultural vehicle is configured to adjust travel direction, travel speed, or both based at least in part on the user inputs when the second autonomous agricultural vehicle is in the manual mode. ### Claim 12 (depends on 8) The agricultural automation system of claim 8, wherein the first autonomous agricultural vehicle comprises another command module, wherein: the other command module is configured to be deactivated while the command module in the second autonomous agricultural vehicle is activated; the other command module is configured to determine the first target operation result and the second target operation result based at least in part on the global plan that indicates the total target operation result of the agricultural automation system when activated; and the command module in the second autonomous agricultural vehicle is configured to be deactivated while the other command module in the first autonomous agricultural vehicle is activated. ### Claim 13 (depends on 12) The autonomous agricultural system of claim 12, wherein: the command module in the second autonomous agricultural vehicle is configured to be activated when the operator is located at the second autonomous agricultural vehicle; and the other command module in the first autonomous agricultural vehicle is configured to be activated when the operator is located at the first autonomous agricultural vehicle. ### Claim 14 A control system configured to facilitate controlling operation of an agricultural automation system, comprising: a first portion located at a first autonomous agricultural vehicle, wherein the first portion of the control system comprises: a first autonomous module configured to autonomously control operation of the first autonomous agricultural vehicle to perform first agricultural operations in a first area of a field based at least in part on a first target operation result while the first portion of the control system is in an autonomous mode; and a first command module, wherein the control system is configured to selectively activate the first command module based at least in part on location of an operator; and a second portion located at a second autonomous agricultural vehicle, wherein the second portion is communicatively coupled to the first portion of the control system via a network and comprises: a second autonomous module configured to autonomously control operation of the second autonomous agricultural vehicle to perform second agricultural operations in a second area of the field based at least in part on a second target operation result while the second portion of the control system is in the autonomous mode; and a second command module, wherein the control system is configured to selectively activate the second command module based at least in part on the location of the operator; wherein an activated command module in the control system is configured to determine the first target operation result and the second target operation result based at least in part on a global plan that indicates a total target operation result of the agricultural automation system; when the first command module located at the first autonomous agricultural vehicle is activated, the first command module is configured to: wirelessly communicate the second target operation result of the second autonomous agricultural vehicle to the second autonomous module located at the second autonomous agricultural vehicle via the network; and communicate the first target operation result of the first autonomous agricultural vehicle to the first autonomous module located at the first autonomous agricultural vehicle via a first internal bus; and when the second command module located at the second autonomous agricultural vehicle is activated, the second command module is configured to: wirelessly communicate the first target operation result of the first autonomous agricultural vehicle to the first autonomous module of the first autonomous agricultural vehicle via the network; and communicate the second target operation result of the second autonomous agricultural vehicle to the second autonomous module located at the second autonomous agricultural vehicle via a second internal bus. ### Claim 15 (depends on 14) The control system of claim 14, wherein the control system is configured to: deactivate the first command module located at the first autonomous agricultural vehicle and activate the second command module located at the second autonomous agricultural vehicle when the operator is located at the second autonomous agricultural vehicle to enable the operator to centrally monitor and control operation of the agricultural automation system from the second autonomous agricultural vehicle; and activate the first command module located at the first autonomous agricultural vehicle and deactivate the second command module located at the second autonomous agricultural vehicle when the operator is located at the first autonomous agricultural vehicle to enable the operator to centrally monitor and control operation of the agricultural automation system from the first autonomous agricultural vehicle. ### Claim 16 (depends on 14) The control system of claim 14, wherein the second portion of the control system is configured to: receive user inputs from the operator via one or more input devices within the second autonomous agricultural vehicle; instruct the second autonomous agricultural vehicle to adjust operation based at least in part on the user inputs when the second portion of the control system is in a manual mode to enable the operator to manually control operation of the second autonomous agricultural vehicle; and when a disturbance condition affecting operation of the first autonomous agricultural vehicle is detected: instruct the first portion of the control system to switch to the manual mode; communicate the user inputs to first portion of the control system via the network; and instruct the first portion of the control system to adjust operation of the first autonomous agricultural vehicle based at least in part on the user inputs to enable the operator to manually control operation of the first autonomous agricultural vehicle from the second autonomous agricultural vehicle. ### Claim 17 (depends on 14) The control system of claim 14, wherein: the first target operation result is configured to indicate the first area in the field, first target locations in the first area at which to perform the first agricultural operations, density with which to perform the first agricultural operations in the first area, spacing with which to perform the first agricultural operations in the first area, or any combination thereof; the second target operation result is configured to indicate the second area in the field, second target locations in the second area at which to perform the second agricultural operations, density with which to perform the second agricultural operations in the second area, spacing with which to perform the second agricultural operations in the second area, or any combination thereof; and the global plan comprises the first target operation result and the second target operation result. ### Claim 18 (depends on 14) The control system of claim 14, wherein: the first autonomous module located at the first autonomous agricultural vehicle is configured to: determine first operational parameters to achieve the first target operation result of the first autonomous agricultural vehicle; and instruct the first autonomous agricultural vehicle to implement the first operational parameters; and the second autonomous module located at the second autonomous agricultural vehicle is configured to: determine second operational parameters to achieve the second target operation result of the second autonomous agricultural vehicle; and instruct the second autonomous agricultural vehicle to implement the second operational parameters. ### Claim 19 (depends on 14) The control system of claim 14, wherein: the first portion of the control system is configured to instruct the first autonomous agricultural vehicle to tow a first agricultural attachment to facilitate performing the first agricultural operations at first target locations in the first portion of the field indicated by the first target operation result; and the second portion of the control system is configured to instruct the second autonomous agricultural vehicle to tow a second agricultural attachment to facilitate performing the second agricultural operations at second target locations in the second portion of the field indicated by the second target operation result. ### Claim 20 (depends on 14) The control system of claim 14, wherein the first autonomous agricultural vehicle and the second autonomous agricultural vehicle each comprises a tractor, an off-road vehicle, or a work vehicle.