Virtual wall for bounded performance of auto-guidance of agricultural vehicles

A vehicle comprising:

• a chassis;
• a tractive element coupled to the chassis;
• an actuator operatively coupled to the tractive element;
• a sensor;
• one or more processors communicably coupled to the actuator;
• and
• a computer-readable, non-transitory storage medium having instructions that, when executed by the one or more processors, cause the one or more processors to:
• receive, from the sensor, crop data of one or more crop rows of a field in which the vehicle operates, the crop data indicating at least one of a crop density, crop row spacing, or a crop type of the one or more crop rows,
• receive positional data from the sensor indicating a position of the vehicle in the field;
• determine a first wall threshold and a second wall threshold of a virtual wall based at least in part on the crop data, the first wall threshold and the second wall threshold defined relative to the one or more crop rows;
• and
• transmit a control signal to cause the vehicle to implement a corrective force based on the position of the vehicle being between the first wall threshold and the second wall threshold of the virtual wall.