Method and system for generating end turns
AssigneeDeere & Company
InventorsAaron Matthew Senneff, Brandon G. Leiran, Timothy J. Roszhart
Life of this patent
Estimating the term…
Abstract
A method and system for controlling a vehicle comprises a boundary establisher for establishing a boundary of a work area. A vehicle position sensor (e.g., a location-determining receiver) determines a position of the vehicle. A planner module plans a raw turn of a vehicle to be executed in accordance with a model turn pattern if the position of the vehicle has traversed the boundary. An adjustment module may adjust the raw turn of the vehicle to a compensated turn such that an implement coupled to the vehicle follows an implement path that substantially tracks the model turn pattern.
Claims24
A method for controlling a vehicle, the method comprising:
- establishing an interior boundary within a work area and a border of the work area;
- determining a position of the vehicle via a location determining receiver;
- planning a raw turn of the vehicle to be executed in accordance with a model turn pattern when the determined position traverses the boundary;
- adjusting the raw turn of the vehicle to a compensated turn such that an implement coupled to the vehicle follows an implement path that substantially tracks the model turn pattern;
- evaluating an implement model to determine whether a raw turn is executable and capable of execution without traversing a geographic area greater than a specified area allocated for the raw turn;
- and
- selecting an alternative type of turn when an initial selection is unexecutable within the specified area.
A method for controlling a vehicle the method comprising:
- establishing an interior boundary of a work area and a border of the work area;
- determining a position of the vehicle via a location determining receiver;
- planning, via a user interface of the vehicle while operating the vehicle in the work area, a raw turn of the vehicle to be executed from a starting point coincident with a vehicular path segment in accordance with a model turn pattern when the determined position traverses the interior boundary;
- adjusting the raw turn of the vehicle to a compensated turn such that the vehicle and an implement coupled to the vehicle stay within an authorized zone between the interior boundary and the border of the work area and such that an end point of the compensated turn is generally aligned with or coextensive with a next vehicular path segment to be traversed within the work area;
- evaluating an implement model to determine whether the raw turn is executable and capable of execution without traversing a geographic area greater than a specified area allocated for the raw turn;
- and
- selecting an alternative type of turn when an initial selection is unexecutable within the specified area.
A method for controlling a vehicle, the method comprising:
- establishing a boundary of a work area;
- determining a position of the vehicle via a location determining receiver;
- planning a raw turn of the vehicle to be executed in accordance with a model turn pattern when the determined position traverses the boundary;
- and
- adjusting the raw turn of the vehicle to a compensated turn such that an implement coupled to the vehicle follows an implement path that substantially tracks the model turn pattern;
- where the implement model is evaluated to determine whether, or not, a raw turn is executable and capable of execution without traversing a geographic area greater than a specified area allocated for the raw turn;
- and
- selecting an alternative type of turn when an initial selection is unexecutable within the specified area.
Dependencies are inferred from the claim text.