US 9,439,341 B2Granted

Multi-mode steering control for a vehicle

AssigneeDeere & Company

InventorsThomas D. Bebernes, Thomas A. Nichols, David V. Rotole, Walter C. Wright

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Abstract

A steering system and method is described for a vehicle having steerable front and rear wheels, and a steering input device for receiving manual steering input. Front and rear hydraulic steering devices may be coupled, respectively, to the front and rear wheels. Front and rear valve assemblies may be configured, respectively, to steer the front and rear wheels. In a manual steering mode, the front valve assembly may be disabled with respect to the front steering device, and the front hydraulic steering device may steer the front wheels based upon the manual steering input. In a rear steering assist mode, a rear steering command may be determined based upon the manual steering input, and the rear wheels steered based upon the rear steering command. In an automated steering mode, the front and rear wheels may be automatically steered based upon a target path of travel for the vehicle.

Claims20

Dependent claims

A steering system for an agricultural vehicle having one or more steerable front wheels, one or more steerable rear wheels, and a steering input device configured to receive a manual steering input for the one or more steerable front wheels, the steering system comprising:

a front hydraulic steering device coupled to at least one of the one or more steerable front wheels;
a rear hydraulic steering device coupled to at least one of the one or more steerable rear wheels;
a front valve assembly configured to hydraulically control the front hydraulic steering device in order to steer the at least one steerable front wheel;
a rear valve assembly configured to hydraulically control the rear hydraulic steering device in order to steer the at least one steerable rear wheel;
and
a controller configured to determine a front steering command and provide the front steering command to the front valve assembly, the controller also being configured to determine a rear steering command and provide the rear steering command to the rear valve assembly;
wherein, in a manual steering mode, the front valve assembly is disabled with respect to the front steering device, and the front hydraulic steering device steers the at least one steerable front wheel based upon, at least in part, the manual steering input;
wherein, in a rear steering assist mode, the controller determines the rear steering command based upon, at least in part, the manual steering input, and the rear valve assembly hydraulically controls the rear hydraulic steering device based upon, at least in part, the rear steering command;
and
wherein, in an automated steering mode, the controller determines the front and rear steering commands based upon, at least in part, a target path of the agricultural vehicle, and the front and rear valve assemblies hydraulically control the front and rear hydraulic steering devices, respectively, based upon, at least in part, the front and rear steering commands, respectively.

7 more elements

A steering method for an agricultural vehicle having one or more steerable front wheels, one or more steerable rear wheels, a front hydraulic steering device coupled to at least one of the one or more steerable front wheels, a rear hydraulic steering device coupled to at least one of the one or more steerable rear wheels, a front valve assembly configured to hydraulically control the front hydraulic steering device in order to steer the at least one steerable front wheel, a rear valve assembly configured to hydraulically control the rear hydraulic steering device in order to steer the at least one steerable rear wheel, a steering input device configured to receive a manual steering input for the one or more steerable front wheels, and a controller, the steering method comprising:

in a manual steering mode:
disabling the front valve assembly with respect to the front steering device;
and
steering the at least one steerable front wheel with the front hydraulic steering device based upon, at least in part, the manual steering input;
and
in one of a rear steering assist mode and an automated steering mode:
determining, with the controller, a front steering command;
providing the front steering command to the front valve assembly;
hydraulically controlling the front hydraulic steering device with the front valve assembly based upon, at least in part, the front steering command from the controller;
determining, with the controller, a rear steering command;
providing the rear steering command to the rear valve assembly;
and
hydraulically controlling the rear hydraulic steering device with the rear valve assembly based upon, at least in part, the rear steering command from the controller;
wherein, in the rear steering assist mode, the rear steering command is determined based upon, at least in part, the manual steering input;
and
wherein, in the automated steering mode, the front and rear steering commands are determined based upon, at least in part, a target path of the agricultural vehicle.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/455,716Filed 8 Aug 2014
Published: US 2016/0037707 A111 Feb 2016
Granted: 13 Sep 2016
Term ends: Not estimatedThe source records don’t support an estimate.

Classification18 codes

B62D 6/007
Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits: adjustable by…
A01B 69/007
Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track: steering or guiding of…
A01B 69/008
Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow: automatic
B62D 5/06
Power-assisted or power-driven steering: fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle