Use of coverage areas in controlling agricultural machine operations

A system for guiding travel of an agricultural machine, the system comprising:

• a guidance system having a first guidance mode and a second guidance mode, the first guidance mode comprising a row sense guidance mode;
• a steering controller configured to actuate a steering system of the agricultural machine;
• at least one processor;
• a memory device coupled with the at least one processor, the memory device including instructions that when executed by the at least one processor causes the at least one processor to:
• determine an end turn guidance line for an end turn of the agricultural machine in a headland area, the end turn guidance line comprising a first turn guidance line, a second turn guidance line, and a headland guidance line, wherein
• the first turn guidance line is configured to guide the agricultural machine from a first guidance line that crosses a boundary between a non-coverage area and a headland area to the headland guidance line,
• the headland guidance line extends in a direction that is generally parallel to a crop row in the headland area,
• the second turn guidance line is configured to guide the agricultural machine from the headland guidance line to a second guidance line that crosses the boundary, and
• the first guidance line and the second guidance line are non-parallel to the direction of the crop row;
• trigger an operation of the guidance system from the first guidance mode to the second guidance mode upon the agricultural machine approaching or crossing the boundary from the non-coverage area, and issue a steering command via the steering controller to follow the first turn guidance line toward the headland guidance line;
• trigger the operation of the guidance system from the second guidance mode to the first guidance mode upon the agricultural machine either (1) being aligned with, or on, the headland guidance line or (2) upon reaching an end location of the first turn guidance line, and issue a steering command via the steering controller to travel along the headland guidance line in a direction generally parallel to crop rows;
• trigger the operation of the guidance system from the first guidance mode to the second guidance mode upon the agricultural machine reaching a start location of the second turn guidance line, and issue a steering command via the steering controller to follow the second turn guidance line toward the second guidance line;
• and
• trigger the operation of the guidance system from the second guidance mode to the first guidance mode upon the agricultural machine approaching or crossing the boundary from the headland area, and issue a steering command via the steering controller to travel along the second guidance line.