Method and control system for limiting vehicle turning radius

A differentially steered agricultural vehicle, the agricultural vehicle comprising:

• a chassis having an engine and a plurality of wheels mounted thereon including a first wheel and a second wheel disposed on opposite sides of the agricultural vehicle;
• a first sensor configured to generate data indicative of a rotational speed of the first wheel;
• a second sensor configured to generate data indicative of a rotational speed of the second wheel;
• a signal device coupled to the agricultural vehicle for signaling an operator of the agricultural vehicle;
• and
• a controller communicatively coupled to the first sensor, the second sensor, and the signal device, the controller configured to:
• receive data indicative of the first wheel rotational speed from the first sensor and the second wheel rotational speed from the second sensor;
• determine a difference between the first wheel rotational speed and the second wheel rotational speed based on the received sensor data;
• compare the determined difference between the first wheel rotational speed and the second wheel rotational speed to a predetermined threshold, wherein the predetermined threshold is established based on a minimum allowable angle between a direction of motion of the agricultural vehicle and a direction of motion of the towing trailer;
• increase or decrease the first wheel rotational speed or the second wheel rotational speed if the difference between the first wheel rotational speed and the second wheel rotational speed exceeds the predetermined threshold;
• and
• initiate the signal device to signal the operator that the agricultural vehicle is turning at a turning radius less than the minimum allowable turning radius.

A system for adjusting a turning radius of an agricultural vehicle towing trailer, the system comprising:

• a first hydraulic motor configured to increase or decrease a rotational speed of a first wheel of the agricultural vehicle;
• a second hydraulic motor configured to increase or decrease a rotational speed of a second wheel of the agricultural vehicle;
• a first sensor configured to generate data indicative of a rotational speed of the first wheel;
• a second sensor configured to generate data indicative of a rotational speed of the second wheel;
• a trailer sensor configured to generate data indicative of a coupling status of a towing trailer to an agricultural vehicle;
• and
• a controller communicatively coupled to the trailer sensor, the first sensor, the second sensor, the first hydraulic motor, and the second hydraulic motor, the controller configured to:
• receive trailer sensor data indicative of a coupling status of a towing trailer to an agricultural vehicle;
• determine that the towing trailer is coupled to the agricultural vehicle based on the received trailer sensor data;
• receive data indicative of the first wheel rotational speed from the first sensor and the second wheel rotational speed from the second sensor when determined that the trailer is coupled to the agricultural vehicle;
• determine a difference between the first wheel rotational speed and the second wheel rotational speed based on the received sensor data;
• compare the determined difference between the first wheel rotational speed and the second wheel rotational speed to a predetermined threshold;
• and
• adjusting the first hydraulic motor or the second hydraulic motor to increase or decrease the rotational speed of the first wheel or the second wheel when the determined difference exceeds the predetermined threshold.