Combine harvester with grain cart detection

A method of controlling a combine harvester, the method comprising:

• receiving sensor signals from one or more radar sensors of a radar-based residue monitoring system of the combine harvester, and
• based on the received sensor signals, detect a presence of a nearby grain hauling vehicle, the method further comprising:
• switching between at least two distinct detection modes of the radar-based residue monitoring system, wherein:
• in a spreader mode, the radar-based residue monitoring system emits a radar signal with a waveform adapted for monitoring the spreading distribution of chopped residue straw, and
• in a non-spreader mode, the radar-based residue monitoring system emits a radar signal with a waveform adapted for detecting vehicles or stationary obstacles.

A combine harvester, comprising:

• a grain tank for storing harvested grain,
• an unload conveyor for unloading the harvested grain stored in the grain tank into a nearby grain hauling vehicle,
• a chopper for chopping residue straw,
• a spreader system for spreading the chopped residue straw in an area behind the combine harvester,
• a radar-based residue monitoring system for monitoring a spreading distribution of the chopped residue straw, and
• a controller configured to:
• receive sensor signals from one or more radar sensors of the radar-based residue monitoring system,
• based on the received sensor signals, detect a presence of the nearby grain hauling vehicle, and
• control an operation of the spreader system, in dependence of the presence of the nearby grain hauling vehicle.