System and method for determining implement train position

A non-transitory massed machine-readable medium (MMRM) including instructions that, when executed by a machine, cause the machine to perform operations comprising:

• identifying a destination location of a leading vehicle fiducial of a leading vehicle, the leading vehicle fiducial coincident with a first fiducial of a first trailing vehicle of an implement train;
• identifying an initial heading corresponding to the first fiducial and a second fiducial of the first trailing vehicle when the second fiducial coincides with an initial location;
• determining a heading of the first and second fiducials of the first trailing vehicle when the first fiducial coincides with the destination location, determining the heading of the first and second fiducials including:
• identifying a linear distance between the destination location of the leading vehicle fiducial and the initial location, and
• determining an intermediate location based on the linear distance and the initial heading, the intermediate location between the initial location and the destination location;
• and
• determining a location and heading of a third fiducial of the first trailing vehicle, based on the heading of the first and second fiducials when the first fiducial coincides with the destination location of the leading vehicle fiducial;
• wherein the operations comprise updating an operational status of at least one implement, the implement corresponding to the determined location and heading of the third fiducial, and the updating the operational status including initiating or inhibiting release of an agricultural product from the at least one implement.

A method for updating a function of an implement on a first trailing vehicle in am implement train, including identifying a location and direction of the first trailing vehicle based on a location of a leading vehicle, the leading vehicle coupled to the first trailing vehicle using an articulating joint, the method comprising:

• determining, using a processor circuit, a linear distance between an initial location of a first trailing vehicle axle fiducial and a destination location for a front hitch of the first trailing vehicle, the destination location corresponding to a rear hitch of a leading vehicle;
• determining, using the processor circuit, a first increment path having a direction perpendicular to an axle of the first trailing vehicle when the axle fiducial is at the initial location;
• determining, using the processor circuit, a first increment endpoint spaced from the initial location a distance less than the determined linear distance;
• determining, using the processor circuit, a second increment direction, based on the first increment endpoint and the destination location for the front hitch, wherein the second increment path length is less than the determined linear distance;
• identifying, using the processor circuit, a location and direction of the first trailing vehicle when the front hitch corresponds with the destination location, using the second increment direction;
• and
• updating the function of the implement on the first trailing vehicle using the identified location and direction of the first trailing vehicle, the updating the function including at least one of:
• changing an implement on/off state, changing a material dispensing rate from the implement, and selecting a material type to dispense from the implement.

A system comprising:

• an implement associated with a first trailing vehicle in an implement train;
• a processor circuit;
• and
• a non-transitory tangible processor-readable medium, coupled to the processor circuit, comprising instructions that, when executed by the processor circuit, cause the processor circuit to:
• receive information about a distance between an initial location of the first trailing vehicle fiducial and a destination location of the first trailing vehicle;
• determine a heading of the first trailing vehicle fiducial when the first trailing vehicle is at the destination location, the heading of the first trailing vehicle fiducial based on an intermediate location between the initial location and the destination location;
• and
• provide a control signal to update the implement associated with the first trailing vehicle based on the determined heading of the first trailing vehicle fiducial, the update to the implement including initiating or inhibiting the release of an agricultural product from the implement.