Gnss supplemented slope control system and method for a work vehicle

A work vehicle comprising:

• a chassis;
• an implement sensor configured to provide an implement inclination signal indicative of an angle of the implement relative to one of the chassis and a direction of gravity and an implement roll signal indicative of an angle of the implement in the roll direction relative to one of the chassis and the direction of gravity;
• a global positioning system communicatively coupled to the work vehicle, the global positioning system configured for generating a chassis heading signal indicative of a location of the work vehicle, a chassis inclination signal indicative of a main fall angle of the chassis relative to a bench surface, and a chassis roll signal indicative of a cross slope angle of the chassis relative to the bench surface;
• an input device for providing a bench surface, a desired cross slope relative to the bench surface, a desired mainfall slope relative to the bench surface, and a desired depth relative to the bench surface;
• a controller configured to:
• receive the bench surface, the desired cross slope, the desired mainfall, and the desired depth to determine a target grade;
• receive the chassis heading signal, the chassis inclination signal, and the chassis roll signal;
• receive the implement inclination signal and the implement roll signal;
• record the chassis heading signal from a first location to a second location, the first location to the second location defining a first pass, to create a recorded chassis heading signal of the first pass;
• use the recorded chassis heading signal as a reference chassis heading;
• receive a current chassis heading signal during a subsequent pass from the first pass;
• determine an orientation error based on the reference chassis heading and the current chassis heading signal, the orientation error indicative of an angular difference between the reference chassis heading sand the current chassis heading signal;
• update the target grade based on the orientation error, the updated target grade including one of more of an updated target cross slope relative to the bench surface, an updated target mainfall slope relative to the bench surface, and an updated target depth relative to the bench surface;
• and
• send a command to move the implement toward the updated target mainfall slope and the updated target cross slope, based on the orientation error and towards the desired depth.

A method of controlling a chassis of a work vehicle and a ground-engaging implement movably connected to a chassis via a linkage assembly of the work vehicle, the method comprising:

• receiving a bench surface, a desired cross slope relative to the bench surface, a desired mainfall slope relative to the bench surface, and a desired depth relative to the bench surface;
• receiving a chassis inclination signal indicative of a main fall angle of a chassis of the work vehicle relative to the bench surface;
• receiving an implement inclination signal by an implement sensor, the implement inclination signal indicative of an angle of the implement relative to one of the chassis and a direction of gravity;
• receiving a chassis roll signal indicative of a cross slope angle of the chassis relative to the bench surface;
• receiving an implement roll signal indicative of an angle of the implement in the roll direction relative to one of the chassis and the direction of gravity;
• receiving a chassis heading signal indicative of a location of the work vehicle;
• record the chassis heading signal from a first location to a second location during a first pass to create a recorded chassis heading signal;
• use the recorded chassis heading signal as a reference chassis heading;
• receive a current chassis heading signal;
• determine an orientation error based on the reference chassis heading and the current chassis heading signal, the orientation error indicative of an angular difference between the reference chassis heading signal and the current chassis heading signal;
• determining an inclination distance error based on the chassis inclination signal and the implement inclination signal, the inclination distance error indicative of a distance between the implement and the desired mainfall slope;
• determining a roll distance error based on the chassis roll signal and the implement roll signal, the roll distance error indicative of a distance between the implement and the desired cross slope;
• and
• controlling the work vehicle to move in an auto heading mode or an auto slope target update mode.