Load Based Tracking Assist

A method for reverting an actual heading of a mobile construction equipment subject to load from one or more work implements to a desired heading, the mobile construction equipment having a front frame articulatable with respect to a rear frame, the front frame including a steering apparatus, the method comprising:

• receiving an actual rear frame yaw rate from a rear inertial motion unit disposed on the rear frame;
• receiving an actual steering angle of the steering apparatus;
• receiving an actual articulation angle between the front frame and the rear frame;
• determining the actual heading based on the actual rear frame yaw rate, the actual steering angle, and the actual articulation angle;
• receiving a steering control indicating a desired steering angle of the steering apparatus;
• receiving an articulation control indicating a desired articulation angle between the front frame and the rear frame;
• determining, based on the desired steering angle and the desired articulation angle, a desired rear frame yaw rate;
• determining the desired heading based on the desired steering angle, the desired articulation angle, and the desired rear frame yaw rate;
• determining a heading difference between the actual heading and the desired heading;
• and
• based on the heading difference exceeding a threshold, at least one of:
• adjusting the steering control, adjusting the articulation control, performing removal of load from the mobile construction equipment, or providing an indication to an operator of the mobile construction equipment.

A controller for reverting an actual heading of a mobile construction equipment subject to load from one or more work implements to a desired heading, the mobile construction equipment having a front frame articulatable with respect to a rear frame, the front frame including a steering apparatus, the controller being configured to:

• receive an actual rear frame yaw rate from a rear inertial motion unit disposed on the rear frame;
• receive an actual steering angle of the steering apparatus;
• receive an actual articulation angle between the front frame and the rear frame;
• determine the actual heading based on the actual rear frame yaw rate, the actual steering angle, and the actual articulation angle;
• receive a steering control indicating a desired steering angle of the steering apparatus;
• receive an articulation control indicating a desired articulation angle between the front frame and the rear frame;
• determine, based on the desired steering angle and the desired articulation angle, a desired rear frame yaw rate;
• determine the desired heading based on the desired steering angle, the desired articulation angle, and the desired rear frame yaw rate;
• determine a heading difference between the actual heading and the desired heading;
• and
• based on the heading difference exceeding a threshold, at least one of:
• adjust the steering control, adjust the articulation control, perform removal of load from the mobile construction equipment, or provide an indication to an operator of the mobile construction equipment.