Self-Propelled Construction Machine And Method For Controlling A Self-Propelled Construction Machine

A self-propelled road milling machine comprising:

• a milling drum configured to work a ground surface, across which the road milling machine travels, in a rectangular working region;
• a machine frame supporting the milling drum;
• a plurality of crawler tracks and one or more lifting columns further supporting the machine frame;
• wherein the lifting columns are adjustable to raise or lower the milling drum to set a milling depth;
• wherein the working region is determined at least in part by geometric dimensions of the milling drum and the milling depth thereof;
• a display unit;
• and
• a signal processor configured to
• receive predictive object signals representing a position of one or more objects lying in a path of the road milling machine when the machine moves in a working direction and further in front of the working region, and
• determine current object signals relating to the working region from the predictive object signals, said current object signals representing the position of the one or more objects in a portion of the ground relating to the working region after an appropriate delay,
• wherein the determined current object signals are provided to the display unit such that the representative position of the one or more objects in the portion of the ground relating to the working region is displayed on the display unit after the delay.

A method of accounting for objects present in a ground surface across which a road milling machine travels, the road milling machine comprising a milling drum configured to work the ground surface in a rectangular working region, a machine frame supporting the milling drum and itself supported by a plurality of crawler tracks and one or more lifting columns, wherein the lifting columns are adjustable to raise or lower the milling drum to set a milling depth, and wherein the working region is determined at least in part by geometric dimensions of the milling drum and the milling depth thereof, the method comprising:

• receiving predictive object signals representing a position of one or more objects lying in a path of the road milling machine when the machine moves in a working direction and further in front of the working region;
• and
• determining current object signals relating to the working region from the predictive object signals, said current object signals representing the position of the one or more objects in a portion of the ground relating to the working region after an appropriate delay,
• wherein the determined current object signals are provided to the display unit such that the representative position of the one or more objects in the portion of the ground relating to the working region is displayed on the display unit after the delay.