# US 10,766,526 B2 · Multi-mode steering control for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,526 B2 - Document ID: US10766526B2 - Status: Granted - Kind: B2 - Application number: 16/102,517 - Filed: 2018-08-13 - Published: 2018-12-06 - Granted: 2020-09-08 - Earliest claimed: 2014-08-08 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Thomas D. Bebernes; Thomas A. Nichols; David V. Rotole; Walter C. Wright - Web page: https://patentgrep.com/patent/US10766526B2 ## CPC - B62D 6/007: {adjustable by the driver, e.g. sport mode} - A01B 69/007: {Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow} - A01B 69/008: {automatic} - B62D 5/06: fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle - B62D 5/065: characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist - B62D 5/09: characterised by means for actuating valves - B62D 5/091: {Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 6/08: responsive only to {driver} input torque - B62D 11/003: {Electric or electronic control systems} - B62D 11/005: {Hydraulic control systems} - B62D 11/24: Endless track steering specially adapted for vehicles having both steerable wheels and endless track - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - B62D 11/04: by means of separate power sources - 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) - 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 ## Abstract A steering system and method is described for a vehicle having steerable front and rear wheels, and a steering input device for receiving manual steering input. Front and rear hydraulic steering devices may be coupled, respectively, to the front and rear wheels. Front and rear valve assemblies may be configured, respectively, to steer the front and rear wheels. In a manual steering mode, the front valve assembly may be disabled with respect to the front steering device, and the front hydraulic steering device may steer the front wheels based upon the manual steering input. In a rear steering assist mode, a rear steering command may be determined based upon the manual steering input, and the rear wheels steered based upon the rear steering command. In an automated steering mode, the front and rear wheels may be automatically steered based upon a target path of travel for the vehicle. ## Claims ### Claim 1 A steering system for an agricultural vehicle having one or more steerable front wheels, one or more steerable rear wheels, and a steering input device configured to receive a manual steering input for the one or more steerable front wheels, the steering system comprising: a front hydraulic motor coupled to at least one of the one or more steerable front wheels; a rear hydraulic steering device coupled to at least one of the one or more steerable rear wheels; and a controller configured to determine a front steering command and a rear steering command; wherein, in a manual steering mode, the front hydraulic motor steers the at least one steerable front wheel based upon, at least in part, the manual steering input; wherein, in a rear steering assist mode, the controller determines the rear steering command based upon, at least in part, the manual steering input, and controls the rear hydraulic steering device based upon, at least in part, the rear steering command; and wherein, in an automated steering mode, the controller determines the front and rear steering commands based upon, at least in part, a target path of the agricultural vehicle, and controls the front hydraulic motor and the rear hydraulic steering device, respectively, based upon, at least in part, the front and rear steering commands, respectively. ### Claim 2 (depends on 1) The steering system of claim 1, further comprising a global positioning system device configured to identify a current position of the agricultural vehicle; wherein in an automated steering mode, the controller determines one or more of a current deviation and an expected deviation of the agricultural vehicle from the target path of the agricultural vehicle based upon the current position of the agricultural vehicle identified by the global positioning system device. ### Claim 3 (depends on 1) The steering system of claim 1, further comprising: a rear valve assembly configured to hydraulically control the rear hydraulic steering device in response to the rear steering command to steer the at least one steerable rear wheel; and a steering sensor in communication with the steering input device and the controller; wherein the steering sensor is configured to provide a steering input signal based upon, at least in part, the steering sensor detecting the manual steering input received at the steering input device; and wherein, in the rear steering assist mode, the controller determines the rear steering command for the rear valve assembly based upon, at least in part, the steering input signal from the steering sensor. ### Claim 4 (depends on 3) The steering system of claim 3, wherein the rear hydraulic steering device includes a dual-path hydraulic system and wherein the steering of the at least one steerable rear wheel is controlled, at least in part, by the rear valve assembly controlling hydraulic flow to the dual-path hydraulic system. ### Claim 5 (depends on 4) The steering system of claim 4, wherein when the agricultural vehicle transitions from one or more of the rear steering assist and automated steering modes to a parked mode, the rear valve assembly controls hydraulic flow to the dual-path hydraulic system to align the at least one steerable rear wheel for straight travel. ### Claim 6 (depends on 3) The steering system of claim 3, further comprising: a front valve assembly configured to hydraulically control the front hydraulic motor in response to the front steering command to steer the at least one steerable front wheel; and a manual steering valve configured to regulate hydraulic flow to the front hydraulic motor based upon, at least in part, the manual steering input; wherein, in the manual steering mode, the front hydraulic motor steers the at least one steerable front wheel based upon, at least in part, the regulated hydraulic flow through the manual steering valve. ### Claim 7 (depends on 6) The steering system of claim 6, wherein one or more valves included in at least one of the front and rear valve assemblies are adjustable to adjust the control of the front or rear hydraulic steering device, respectively, by the front or rear valve assembly, respectively, for a particular front or rear steering command from the controller, respectively, and for a particular manual steering input at the steering input device; and wherein adjusting the control of the front or rear hydraulic steering device by the front or rear valve assembly, respectively, changes a degree of steering of the at least one steerable front or rear wheel by the front or rear hydraulic steering device, respectively, for the particular front or rear steering command, respectively, and for the particular manual steering input. ### Claim 8 (depends on 6) The steering system of claim 6, wherein the one or more front wheels includes a first steerable front wheel and a second steerable front wheel; wherein the front hydraulic motor includes a dual-path hydraulic system; and wherein the front hydraulic motor controls the steering of the one or more front wheels with, at least in part, the dual-path hydraulic system. ### Claim 9 (depends on 8) The steering system of claim 8, wherein the dual-path hydraulic system includes a piston coupled to first and second hydraulic machines, the piston being movable between different positions by the front valve assembly and by the steering input device; wherein the first hydraulic machine drives the first steerable front wheel at a first speed based upon, at least in part, a current position of the piston, and the second hydraulic machine drives the second steerable front wheel at a second speed based upon, at least in part, the current position of the piston. ### Claim 10 (depends on 9) The steering system of claim 9, wherein when the agricultural vehicle transitions from the automated steering mode to a parked mode, the front valve assembly disposes the piston such that, when the agricultural vehicle transitions out of the parked mode to one or more of the automated steering mode and the manual steering mode, the first and second speeds of the first and second steerable front wheels, respectively, are initially approximately equal. ### Claim 11 A steering method for an agricultural vehicle having one or more steerable front wheels, one or more steerable rear wheels, a front hydraulic motor coupled to at least one of the one or more steerable front wheels, a rear hydraulic steering device coupled to at least one of the one or more steerable rear wheels, a steering input device configured to receive a manual steering input for the one or more steerable front wheels, and a controller, the steering method comprising: in a manual steering mode: steering the at least one steerable front wheel with the front hydraulic motor based upon, at least in part, the manual steering input; and in one of a rear steering assist mode and an automated steering mode: determining, with the controller, a front steering command; hydraulically controlling the front hydraulic motor based upon, at least in part, the front steering command from the controller; determining, with the controller, a rear steering command; and hydraulically controlling the rear hydraulic steering device based upon, at least in part, the rear steering command from the controller; wherein, in the rear steering assist mode, the rear steering command is determined based upon, at least in part, the manual steering input; and wherein, in the automated steering mode, the front and rear steering commands are determined based upon, at least in part, a target path of the agricultural vehicle. ### Claim 12 (depends on 11) The steering method of claim 11, wherein the rear hydraulic steering device includes a dual-path hydraulic system and wherein the steering of the at least one steerable rear wheel is controlled, at least in part, by controlling hydraulic flow to the dual-path hydraulic system. ### Claim 13 (depends on 11) The steering method of claim 11, further comprising a global positioning system device configured to identify a current position of the agricultural vehicle; wherein, in an automated steering mode, the controller determines one or more of a current deviation and an expected deviation of the agricultural vehicle from the target path of the agricultural vehicle based upon the current position of the agricultural vehicle identified by the global positioning system device. ### Claim 14 (depends on 11) The steering method of claim 11, wherein the agricultural vehicle further includes a rear valve assembly configured to hydraulically control the rear hydraulic steering device in response to the rear steering command to steer the at least one steerable rear wheel, and includes a steering sensor in communication with the steering input device and the controller; wherein the steering sensor is configured to provide a steering input signal based upon, at least in part, the steering sensor detecting the manual steering input received at the steering input device; and wherein, in the rear steering assist mode, the rear steering command for the rear valve assembly is determined based upon, at least in part, the steering input signal from the steering sensor. ### Claim 15 (depends on 14) The steering method of claim 14, wherein, when the agricultural vehicle transitions from one or more of the rear steering assist and automated steering modes to a parked mode, the rear valve assembly hydraulically controls the rear hydraulic steering device to align the at least one steerable rear wheel for straight travel. ### Claim 16 (depends on 14) The steering method of claim 14, wherein the agricultural vehicle further includes a front valve assembly configured to hydraulically control the front hydraulic motor in response to the front steering command to steer the at least one steerable front wheel, and includes a manual steering valve configured to regulate hydraulic flow to the front hydraulic motor based upon, at least in part, the manual steering input; wherein, in the manual steering mode, the front hydraulic motor steers the at least one steerable front wheel based upon, at least in part, the regulated hydraulic flow through the manual steering valve. ### Claim 17 (depends on 16) The steering method of claim 16, wherein the one or more front wheels includes a first steerable front wheel and a second steerable front wheel; wherein, the front valve assembly hydraulically controls the front hydraulic motor to separately drive the first and second front wheels, respectively, at first and second independent speeds; wherein, when the agricultural vehicle transitions from the automated steering mode to a parked mode, the front valve assembly returns the front hydraulic motor to a neutral state, such that when the agricultural vehicle transitions out of the parked mode, the front hydraulic motor causes the first and second front wheels to initially rotate at approximately equal speeds. ### Claim 18 (depends on 16) The steering method of claim 16, wherein one or more valves included in at least one of the front and rear valve assemblies are adjustable, to adjust the control of the front or rear hydraulic steering device, respectively, by the front or rear valve assembly, respectively, for a particular front or rear steering command from the controller, respectively, and for a particular manual steering input at the steering input device; and wherein adjusting the control of the front or rear hydraulic steering device by the front or rear valve assembly, respectively, changes a degree of steering of the at least one steerable front or rear wheel by the front or rear hydraulic steering device, respectively, for the particular front or rear steering command, respectively, and for the particular manual steering input. ### Claim 19 (depends on 16) The steering method of claim 16, wherein the one or more front wheels includes a first steerable front wheel and a second steerable front wheel; wherein the front hydraulic motor includes a dual-path hydraulic system; and wherein the front hydraulic motor controls the steering of the one or more front wheels with, at least in part, the dual-path hydraulic system. ### Claim 20 (depends on 19) The steering method of claim 19, wherein the dual-path hydraulic system includes a piston coupled to first and second hydraulic machines, the piston being movable between different positions by the front valve assembly and by the steering input device; wherein the first hydraulic machine drives the first steerable front wheel at a first speed based upon, at least in part, a current position of the piston, and the second hydraulic machine drives the second steerable front wheel at a second speed based upon, at least in part, a current position of the piston.