Engagement control system and method

A method of controlling an engagement operation to result in physical pushing between a first movable machine and a second movable machine, the method comprising:

• accessing a predetermined deceleration zone between the first movable machine and the second movable machine stored in memory;
• accessing a predetermined deceleration rate stored in memory;
• accessing a predetermined buffer zone between the first movable machine and the second movable machine stored in memory;
• accessing a predetermined relative engagement speed stored in memory;
• determining a separation distance between the first movable machine and the second movable machine based upon data from a separation sensor operatively associated with the first movable machine and the second movable machine;
• determine if the separation distance is within the deceleration zone and generating a deceleration command to decelerate the first movable machine at the deceleration rate when the separation distance is within the deceleration zone;
• determining a relative difference in speed between the first movable machine and the second movable machine based upon data from a relative speed sensor operatively associated with the first movable machine and the second movable machine;
• determine if the separation distance is within the buffer zone and generating an engagement speed command to adjust the relative difference in speed to operate the first movable machine at a first ground speed equal to a second ground speed of the second movable machine plus the relative engagement speed when the separation distance is within the buffer zone;
• determine if the first movable machine and the second movable machine are in physical contact with each other;
• and
• generate a propulsion command to operate the first movable machine and the second movable machine at synchronized ground speeds so that the first movable machine physically contacts and pushes the second movable machine.

A movable machine comprising:

• a ground engaging drive mechanism configured to propel the movable machine about a work site;
• a separation sensor configured to determine a separation distance between the movable machine and a second movable machine;
• a relative speed sensor configured to determine a relative difference in ground speed between the movable machine and the second movable machine;
• and
• a controller configured to:
• access a predetermined deceleration zone between the movable machine and the second machine that is stored in memory;
• access a predetermined deceleration rate stored in memory;
• access a predetermined buffer zone between the movable machine and the second movable machine that is stored in memory;
• access a predetermined relative engagement speed stored in memory;
• determine the separation distance between the movable machine and the second movable machine based upon the separation sensor;
• determine if the separation distance is within the deceleration zone and generate a deceleration command to decelerate the machine at the deceleration rate when the separation distance is within the deceleration zone;
• determine a relative difference in ground speed between the movable machine and the second movable machine based upon the relative speed sensor;
• determine if the separation distance is within the buffer zone and generate an engagement speed command to adjust the relative difference in ground speed to operate the machine at a ground speed equal to a second ground speed of the second movable machine plus the relative engagement speed when the separation distance is within the buffer zone,
• determine if the movable machine and the second movable machine are in physical contact with each other;
• and
• generate a propulsion command to operate the movable machine and the second movable machine at synchronized ground speeds so that the movable machine physically contacts and pushes the second movable machine.