# US 10,767,348 B2 · Machine stability detection and control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,348 B2 - Document ID: US10767348B2 - Status: Granted - Kind: B2 - Application number: 16/048,966 - Filed: 2018-07-30 - Published: 2020-01-30 - Granted: 2020-09-08 - Earliest claimed: 2018-07-30 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Michael G. Kean; Mark J. Cherney - Web page: https://patentgrep.com/patent/US10767348B2 ## CPC - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - B60W 50/08: Interaction between the driver and the control system - B60W 50/085: {Changing the parameters of the control units, e.g. changing limit values, working points by control input} - B60W 60/00: Drive control systems specially adapted for autonomous road vehicles - B60W 60/007: {Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - E02F 9/2033: {Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin (sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123)} - E02F 9/24: Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} - B60W 30/04: related to roll-over prevention - B60W 2510/30: Auxiliary equipments - B60W 2520/10: Longitudinal speed - B60W 2520/12: Lateral speed - B60W 2530/10: Weight - B60W 2552/00: Input parameters relating to infrastructure - B60W 2555/00: Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00 - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A mobile work machine includes a frame, a set of ground engaging elements movably supported by the frame and driven to drive movement of the mobile work machine, a movable element movably supported by the frame to move relative to the frame, and an actuator coupled to the movable element to controllably drive movement of the movable element. The mobile work machine also includes a control system that generates an actuator control signal, indicative of a commanded movement of the actuator, and provides the actuator control signal to the actuator to control the actuator to perform the commanded movement. Further, the mobile work machine includes a stability system, coupled to the control system, that determines whether the commanded movement will result in an unstable state of the mobile work machine and, if so, generates a restriction signal, restricting the commanded movement to avoid the unstable state. ## Claims ### Claim 1 A mobile work machine, comprising: a frame; a set of ground engaging elements movably supported by the frame and driven by a power source to drive movement of the mobile work machine; a movable element movably supported by the frame to move relative to the frame; an actuator coupled to the movable element to controllably drive movement of the movable element; a control system that generates an actuator control signal, indicative of a commanded movement of the actuator, and provides the actuator control signal to the actuator to control the actuator to perform the commanded movement; a terrain identifier configured to identify a characteristic of terrain in a geographic area around the mobile work machine; and a stability system, coupled to the control system, that includes a terrain detector that defines a plurality of grid sections that correspond to geographic locations in the geographic area around the mobile work machine, based on the identified characteristics of the terrain in the geographic area around the mobile work machine and determines whether the commanded movement will result in an unstable state of the mobile work machine based on the identified characteristic of the terrain in the grid section in the geographic area around the mobile work machine and, if so, generates a restriction signal, restricting the commanded movement to avoid the unstable state. ### Claim 2 (depends on 1) The mobile work machine of claim 1 wherein the terrain detector is configured to generate a map that defines the plurality of grid sections that correspond to geographic locations in the geographic area around the mobile work machine, based on a terrain signal generated by the terrain identifier indicative of the identified characteristic of the terrain in the geographic area around the mobile work machine. ### Claim 3 (depends on 2) The mobile work machine of claim 2 wherein the stability system comprises: a machine configuration detector configured to detect a machine configuration in which the mobile machine is likely to be configured if positioned at a given one of the geographic locations. ### Claim 4 (depends on 3) The mobile work machine of claim 3 wherein the machine configuration detector detects a likely load on the mobile work machine, based on the detected machine configuration. ### Claim 5 (depends on 4) The mobile work machine of claim 4 wherein the stability system comprises: stability detection logic configured to detect a center of gravity of the mobile work machine at the given geographic location, based on the likely load and the terrain data. ### Claim 6 (depends on 5) The mobile work machine of claim 5 wherein the stability detection logic detects the unstable state of the mobile work machine by determining whether the center of gravity of the mobile work machine is within a threshold area bounded by the ground engaging elements. ### Claim 7 (depends on 6) The mobile work machine of claim 6 wherein the stability system comprises: a dynamic stability controller that receives an indication from the stability detection logic, indicative of a determination that the center of gravity is not within the threshold area, and automatically restricts generation of the actuator control signal, based on the indication. ### Claim 8 (depends on 7) The mobile work machine of claim 7 wherein the dynamic stability controller generates the restriction signal to restrict the commanded movement and prevent configuration of the mobile work machine in the machine configuration to avoid the unstable state. ### Claim 9 (depends on 8) The mobile work machine of claim 8 wherein the dynamic stability controller comprises: a model-look up component that generates a weighted value and assigns the weighted value to the commanded movement, wherein the weighted value is indicative of a degree of deviation, of the center of gravity from the threshold area, attributed to the commanded movement. ### Claim 10 (depends on 5) The mobile work machine of claim 5 wherein the stability detection logic identifies a slope at a particular grid point in the map corresponding to the given geographic location, based on the terrain signal, and detects the center of gravity of the mobile work machine by detecting a likely elevation of at least one of the ground engaging elements relative to the frame, based on the slope. ### Claim 11 (depends on 10) The mobile work machine of claim 10 wherein the stability detection logic detects the center of gravity based on the likely load on the mobile work machine relative to the likely elevation of the at least one ground engaging element. ### Claim 12 A method of controlling a mobile machine comprising: defining a plurality of grid sections, each corresponding to a geographic location in a geographic area around the mobile machine; generating a slope value indicative of terrain for each grid section; predicting a center of gravity of the mobile machine for each grid section, based on the slope value; determining whether the predicted center of gravity would render the mobile machine in an unstable state for each grid section; and if so, generating a restriction signal that prevents the mobile machine from being controllably rendered in the unstable state. ### Claim 13 (depends on 12) The method of claim 12 further comprising: predicting different machine configurations of the mobile machine for each grid section. ### Claim 14 (depends on 13) The method of claim 13 wherein predicting a center of gravity of the mobile machine for each grid section comprises: predicting a plurality of different centers of gravity of the mobile machine, each predicted center of gravity corresponding to a particular one of the predicted machine configurations. ### Claim 15 (depends on 14) The method of claim 14 further comprising: generating a stability distribution having a set of values for each grid section, each value indicating a measure of likelihood that the mobile machine will have a particular one of the predicted centers of gravity. ### Claim 16 (depends on 15) The method of claim 15 wherein determining whether the predicted center of gravity would render the mobile machine in an unstable state for each grid section comprises: aggregating the set of values for each grid section; and generating an average stability measure, for each grid section, indicative of a measure of likelihood that the mobile machine will have an average center of gravity that renders the mobile machine in the unstable state, based on the aggregated set of values. ### Claim 17 A mobile work machine, comprising: a frame; a movable element; an actuator coupled to the movable element to controllably drive movement of the movable element; a control system that generates a control signal, indicative of a commanded movement of the movable element, and provides the control signal to the actuator to control the actuator to perform the commanded movement; and a stability system, coupled to the control system, configured to: generate terrain data indicative of detected slope at a plurality of positions in a geographic area surrounding the mobile work machine, detect, for a particular position in the geographic area, an expected orientation of the mobile work machine relative to the detected slope corresponding to the particular position, detect a likely unstable state of the mobile work machine, based on determining that a measure of probability, that the mobile work machine will have a center of gravity that is not within a stability limit for the particular position, exceeds a threshold measure of probability, and a dynamic stability controller that automatically generates a restriction signal restricting generation of the control signal to avoid the unstable state of the mobile work machine at the particular position. ### Claim 18 (depends on 17) The mobile work machine of claim 17 wherein the stability system comprises: a machine configuration detector that generates an indication of an expected load on the mobile work machine, based on a configuration in which the mobile work machine is likely be configured at the particular position, and generates an indication of an expected height of the movable element at the particular position, based on the detected slope at the particular position, and wherein the stability logic is configured to detect the expected orientation of the mobile work machine based on the indication of the expected load and the indication of the expected height, and generate the center of gravity based on the expected orientation. ### Claim 19 (depends on 17) The mobile work machine of claim 17 wherein the stability system is configured to: identify possible centers of gravity of the mobile work machine, each possible center of gravity corresponding to a possible configuration of the mobile work machine at the particular position, generate a stability distribution that aggregates the possible centers of gravity across the possible configurations, generate the measure of probability based on the stability distribution, and determine that the mobile work machine will likely become unstable if positioned at the particular position, based on the measure of probability.