Method and system for sensing a position of a vehicle or guiding a vehicle with respect to one or more plant rows

A method for guiding a vehicle, the method comprising:

• providing a first sensor signal response indicative of a first position or first movement of the first arm with respect to the first row;
• providing a second sensor signal response indicative of a second position or second movement of the second arm with respect to the first row, or second row;
• estimating a center point between the first row and the first row, or second row based on targeting substantial symmetry in the first sensor signal response and the second sensor signal response as an indication that a longitudinal axis of the vehicle is aligned with the center point, where substantial symmetry is present if an error or difference between the first sensor signal response and the second sensor signal response is less than a threshold;
• indicating that the first arm and the second arm are engaged with the first row or with the first row and the second row and sending a setting mode enable signal;
• detecting a time period that the first arm and the second arm are engaged with the first row or the first row and the second row, or the duration of the setting mode enable signal;
• and
• establishing or locking in the center point after the lapse of the time period.

A system for guiding a vehicle, the system comprising:

• a first arm for pivoting about a first pivot point associated with a vehicle, or its implement, in response to contact with a first row of plants;
• a first sensor associated with the first arm to provide a first sensor signal response indicative of a first position or first movement of the first arm with respect to the first row;
• a second arm for pivoting about a second pivot point associated with a vehicle, or its implement, in response to contact with the first row, or second row of plants spaced apart from the first row with a substantially parallel spacing;
• a second sensor associated with the second arm to provide a second sensor signal response indicative of a second position or second movement of the second arm with respect to the first row, or second row;
• a data processor for estimating an initial center point of the first row or between the first row and second row based on targeting substantial symmetry in the first sensor signal response and the second sensor signal response as an indication that a longitudinal axis of the vehicle is aligned with the center point where substantial symmetry is present if an error or difference between the first sensor signal response and the second sensor signal response is less than a threshold;
• and
• a center point limit module for limiting an adjustment to the initial center point to a maximum deviation or maximum limit per unit time.