System and method for autonomously engaging material supply machine with paving machine

A method for controlling an engagement of a material supply machine with a paving machine for supplying paving material thereto, the method comprising:

• detecting, by one or more sensors mounted on one or more of the material supply machine and the paving machine, a position of a leading end of the paving machine and a distance of the leading end of the paving machine from the material supply machine;
• detecting, by the one more sensors, a relative speed between the material supply machine and the paving machine;
• autonomously controlling, by a controller operably coupled to the one or more sensors and to a drive control system of the material supply machine, a speed of the material supply machine based on the detected relative speed when the distance of the leading end of the paving machine from the material supply machine is less than a threshold distance, the speed of the material supply machine being controlled to match a speed of the paving machine until the material supply machine engages with the leading end of the paving machine;
• and
• autonomously controlling, by the controller, a steering of the material supply machine based on the detected position of the leading end of the paving machine to align the material supply machine with the leading end of the paving machine until the material supply machine engages with the leading end of the paving machine.

A material supply machine for engaging with a leading end of a paving machine for supplying paving material thereto, the material supply machine comprising:

• a machine frame supporting one or more ground engaging members for propelling the material supply machine;
• a drive control system configured to control the one or more ground engaging members, the drive control system including a speed control system for controlling speed and a steering control system for controlling direction of travel of the material supply machine;
• an implement defining a rear end of the material supply machine, the rear end being configured to engage with the leading end of the paving machine, and
• a system for controlling the engagement of the material supply machine with the leading end of the paving machine, the system comprising:
• one or more sensors mounted on the implement at the rear end of the material supply machine, the one or more sensors being configured to:
• detect a position of the leading end of the paving machine and a distance of the leading end of the paving machine from the material supply machine;
• and
• detect a relative speed between the material supply machine and the paving machine;
• and
• a controller operably coupled to the one or more sensors and to the drive control system of the material supply machine, the controller being configured to:
• send control signal to the speed control system to autonomously control the speed of the material supply machine based on the detected relative speed when the distance of the leading end of the paving machine from the material supply machine is less than a threshold distance, the speed of the material supply machine being controlled to match a speed of the paving machine until the rear end of material supply machine engages with the leading end of the paving machine;
• and
• send control signal to the steering control system to autonomously control the steering of the material supply machine based on the detected position of the leading end of the paving machine to align the rear end of the material supply machine with the leading end of the paving machine until the rear end of the material supply machine engages with the leading end of the paving machine.