Method of steering a machine on a predetermined route and device for its execution

A method for steering an agricultural machine on a predetermined off-road route comprising:

• determining an actual position of an agricultural machine;
• pre-determining a maximum angle at which the agricultural machine may be turned,
• wherein any change in direction that exceeds the pre-determined maximum angle is a big
• change in direction;
• comparing the actual position relative to a desired position of the agricultural machine wherein the desired position is located on a predetermined off-road route;
• transmitting steering controls to the agricultural machine if a difference between the actual position and the desired position exceeds a certain quantity wherein the control commands cause the agricultural machine to be steered to a new future position on the predetermined route via an unconstrained path, different from the predetermined route, based upon a future segment of the predetermined off-road route;
• wherein the machine's return to the new future position is effected on a return way which minimizes a divergence from the predetermined off-road route as well as avoiding big changes of direction in an actual path of travel;
• and
• wherein by means of control commands, the machine's direction of motion is, already before the new future position, adapted to the direction of the predetermined off-road route to be traveled after reaching the new fixture position.