# US 12,108,696 B2 · Agricultural system and method for determining an as-driven path of an agricultural work vehicle

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- Number: US 12,108,696 B2
- Document ID: US12108696B2
- Status: Granted
- Kind: B2
- Application number: 17/560,887
- Filed: 2021-12-23
- Published: 2023-06-29
- Granted: 2024-10-08
- Earliest claimed: 2021-12-23
- Applicants: CNH Industrial America LLC
- Inventors: Phillip Duane Dix; Daniel Geiyer; Aditya Singh; Navneet Gulati
- Web page: https://patentgrep.com/patent/US12108696B2

## CPC

- A01B 69/008: {automatic}
- A01B 79/005: {Precision agriculture}
- B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
- B60K 35/65: Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive
- B60K 35/80: Arrangements for controlling instruments
- B62D 15/021: {Determination of steering angle}
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- G01C 21/16: by integrating acceleration or speed, i.e. inertial navigation
- B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
- B60K 2360/166: Navigation
- 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)
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- 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)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)

## Abstract

A method for determining an as-driven path of an agricultural work vehicle includes receiving position data indicative of a position of the agricultural work vehicle in a field during a first pass of the agricultural work vehicle in the field, receiving inertial movement data of the agricultural work vehicle during the first pass, and receiving operational data indicative of at least one of a steering angle of a wheel of the agricultural work vehicle, a wheel speed of the wheel of the agricultural work vehicle, or a transmission speed of the agricultural work vehicle during the first pass. Moreover, the method includes generating an as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data. Additionally, the method includes performing a control action based on the as-driven path.

## Claims

### Claim 1

A method for determining an as-driven path of an agricultural work vehicle, the method comprising:
receiving, with a computing system, position data generated by a position sensor indicative of a position of the agricultural work vehicle in a field during a first pass of the agricultural work vehicle in the field;
receiving, with the computing system, inertial movement data generated by an inertial measurement unit (IMU) supported on the agricultural work vehicle during the first pass;
receiving, with the computing system, operational data indicative of at least one of a steering angle of a wheel of the agricultural work vehicle, a wheel speed of the wheel of the agricultural work vehicle, or a transmission speed of the agricultural work vehicle during the first pass;
generating, with the computing system, an as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data, wherein generating the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data comprises:
determining, with the computing system, slip of the agricultural work vehicle during the first pass based at least in part on the inertial movement data and the operational data; and
generating, with the computing system, the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data and the slip of the agricultural work vehicle; and
performing, with the computing system, a control action based at least in part on the as-driven path of the agricultural work vehicle.

### Claim 2 (depends on 1)

The method of claim 1, wherein determining the slip of the agricultural work vehicle comprises determining a difference between the inertial movement data and the operational data.

### Claim 3 (depends on 2)

The method of claim 2, wherein the operational data is the steering angle of the wheel of the agricultural work vehicle.

### Claim 4 (depends on 1)

The method of claim 1, wherein the position data is indicative of the position of the agricultural work vehicle in the field at increments of a particular interval, wherein the as-driven path of the agricultural work vehicle connects directly adjacent ones of the positions of the agricultural work vehicle in the field based at least in part on the inertial movement data and the operational data.

### Claim 5 (depends on 1)

The method of claim 1, wherein the control action comprises controlling a subsequent agricultural work vehicle to make a subsequent pass in the field based at least in part on the as-driven path of the agricultural work vehicle during the first pass.

### Claim 6 (depends on 1)

The method of claim 1, wherein the control action comprises controlling a user interface to display the as-driven path of the agricultural work vehicle.

### Claim 7 (depends on 1)

The method of claim 1, wherein generating the as-driven path of the agricultural work vehicle during the first pass comprises generating the as-driven path of the agricultural work vehicle during the first pass while the first pass is being performed.

### Claim 8 (depends on 1)

The method of claim 1, wherein generating the as-driven path of the agricultural work vehicle during the first pass comprises generating the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, the operational data, and on field parameter data indicative of one or more boundaries of the field.

### Claim 9

A system for determining an as-driven path of an agricultural work vehicle, the system comprising:
a positioning device configured to generate position data indicative of a position of the agricultural work vehicle in a field;
an inertial measurement unit (IMU) supported on the agricultural work vehicle, the IMU being configured to generate inertial movement data of the agricultural work vehicle;
a non-positional sensor configured to generate operational data indicative of at least one of a steering angle of a wheel of the agricultural work vehicle, a wheel speed of the wheel of the agricultural work vehicle, or a transmission speed of the agricultural work vehicle; and
a computing system communicatively coupled to the positioning device, the IMU, and the non-positional sensor, the computing system being configured to:
receive the position data from the position sensor indicative of the position of the agricultural work vehicle in the field during a first pass of the agricultural work vehicle in the field;
receive the inertial movement data from the IMU during the first pass;
receive the operational data from the non-positional sensor during the first pass; and
generate an as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data, wherein the computing system is configured to generate the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data by:
determining slip of the agricultural work vehicle during the first pass based at least in part on the inertial movement data and the operational data; and
generating the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data and the slip of the agricultural work vehicle.

### Claim 10 (depends on 9)

The system of claim 9, wherein the computing system is configured to determine the slip of the agricultural work vehicle by determining a difference between the inertial movement data and the operational data.

### Claim 11 (depends on 10)

The system of claim 10, wherein the operational data is the steering angle of the wheel of the agricultural work vehicle.

### Claim 12 (depends on 9)

The system of claim 9, wherein the position data is indicative of the position of the agricultural work vehicle in the field at increments of a particular interval, wherein the as-driven path of the agricultural work vehicle connects directly adjacent ones of the positions of the agricultural work vehicle in the field based at least in part on the inertial movement data and the operational data.

### Claim 13 (depends on 9)

The system of claim 9, wherein the computing system is further configured to perform a control action based at least in part on the as-driven path of the agricultural work vehicle.

### Claim 14 (depends on 13)

The system of claim 13, wherein the control action comprises controlling a subsequent agricultural work vehicle to make a subsequent pass in the field based at least in part on the as-driven path of the agricultural work vehicle during the first pass.

### Claim 15 (depends on 13)

The system of claim 13, wherein the control action comprises controlling a user interface to display the as-driven path of the agricultural work vehicle.

### Claim 16 (depends on 9)

The system of claim 9, wherein the computing system is configured to generate the as-driven path of the agricultural work vehicle during the first pass while the first pass is being performed.

### Claim 17 (depends on 9)

The system of claim 9, wherein the computing system is further configured to receive field parameter data indicative of one or more boundaries of the field, and wherein the computing system is configured to generate the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, the operational data, and the field parameter data.