System and method for coordinated control of agricultural vehicles

A control system for an agricultural vehicle, comprising:

• a first transceiver mounted on the agricultural vehicle, wherein the first transceiver, in operation, receives a first signal from a first spatial locating device and an orientation sensor mounted on a target vehicle via a second transceiver of the target vehicle, wherein the first signal includes a first determined position, a first determined velocity, and a determined orientation of the target vehicle, wherein the determined orientation includes a pitch angle of the target vehicle, a roll angle of the target vehicle, a pitch rate of the target vehicle, a roll rate of the target vehicle, a yaw rate of the target vehicle, or any combination thereof;
• a second spatial locating device mounted on the agricultural vehicle and configured to determine a second determined position and a second determined velocity of the agricultural vehicle;
• an automated steering control system configured to control a direction of movement of the agricultural vehicle;
• an automated speed control system configured to control a speed of the agricultural vehicle;
• and
• a controller communicatively coupled to the first transceiver, to the second spatial locating device, to the automated steering control system, and to the automated speed control system, wherein the controller is configured to automatically control the agricultural vehicle by determining a target position and a target velocity for the agricultural vehicle based at least in part on the first determined position, the first determined velocity, and the determined orientation of the target vehicle, determining a route to the target position based at least in part on the target position, the second determined position, the second determined velocity, and the determined orientation, instructing the automated steering control system and the automated speed control system to direct the agricultural vehicle toward the target position along the route, and instructing the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.

A method for controlling an agricultural vehicle, comprising:

• receiving, via a first transceiver mounted on the agricultural vehicle, a first signal including a first determined position, a first determined velocity, and a determined orientation of a target vehicle from a spatial locating device and an orientation sensor mounted on the target vehicle via a second transceiver of the target vehicle, wherein the determined orientation includes a pitch angle of the target vehicle, a roll angle of the target vehicle, a pitch rate of the target vehicle, a roll rate of the target vehicle, a yaw rate of the target vehicle, or any combination thereof;
• determining, via a controller, a target position and a target velocity of the agricultural vehicle based at least in part on the first determined position, the first determined velocity, and the determined orientation of the target vehicle;
• instructing, via the controller, an automated steering control system and an automated speed control system to direct the agricultural vehicle toward the target position;
• and
• instructing, via the controller, the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.