System and Method for Controlling the Operation of a Machine

A controller-implemented method for automated control of a machine along a first slot in a work surface, the first slot being adjacent to a second slot in the work surface with a berm disposed between the first slot and the second slot, the method comprising:

• storing a slot elevation difference threshold;
• receiving a plurality of machine position signals from a machine position sensor;
• determining a position of the machine along the first slot based upon the plurality of machine position signals;
• accessing a plurality of first positions of at least one first slot surface spaced apart along the first slot;
• accessing a plurality of second positions of at least one second slot surface along the second slot, and each of the plurality of first positions being laterally aligned with one of the plurality of second positions to define pairs of laterally aligned positions;
• determining an elevation difference between each pair of laterally aligned positions;
• generating a first propulsion command to operate the machine according to a first propulsion mode while the machine is disposed along the first slot adjacent each pair of laterally aligned positions at which the elevation difference is less than the slot elevation difference threshold;
• and
• generating a second propulsion command to operate the machine according to a second propulsion mode while the machine is disposed along the first slot adjacent each pair of laterally aligned positions at which the elevation difference is greater than the slot elevation difference threshold.

A machine, comprising:

• a prime mover;
• a ground-engaging work implement for engaging a work surface along a path;
• a machine position sensor for generating a plurality of machine position signals indicative of a position of the machine at a work site;
• and
• a controller configured to:
• store a slot elevation difference threshold;
• receive a plurality of machine position signals from the machine position sensor;
• determine the position of the machine along a first slot in a work surface based upon the plurality of machine position signals;
• access a plurality of first positions of at least one first slot surface spaced apart along the first slot;
• access a plurality of second positions of at least one second slot surface along a second slot in the work surface, the first slot being adjacent to the second slot with a berm disposed between the first slot and the second slot, and each of the plurality of first positions being laterally aligned with one of the plurality of second positions to define pairs of laterally aligned positions;
• determine an elevation difference between each pair of laterally aligned positions;
• generate a first propulsion command to operate the machine according to a first propulsion mode while the machine is disposed along the first slot adjacent each pair of laterally aligned positions at which the elevation difference is less than the slot elevation difference threshold;
• and
• generate a second propulsion command to operate the machine according to a second propulsion mode while the machine is disposed along the first slot adjacent each pair of laterally aligned positions at which the elevation difference is greater than the slot elevation difference threshold.