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Coordination of vehicle movement in a field

  • US 10,254,765 B2
  • Filed: 05/22/2014
  • Issued: 04/09/2019
  • Est. Priority Date: 11/12/2009
  • Status: Active Grant
First Claim
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1. A method for controlling movement of vehicles, the method comprising:

  • moving a first vehicle on a path using a data processing system;

    moving a number of other vehicles on a number of parallel paths that are substantially parallel to, and offset to at least one of a first offset side and a second offset side of the path for the first vehicle;

    responsive to receiving from the first vehicle an indication to follow the path of the first vehicle, moving the number of other vehicles onto, and travelling linearly along, the path for the first vehicle in a turn in the path of the first vehicle; and

    responsive to receiving from the first vehicle another indication of the first vehicle completing the turn, moving the number of other vehicles from the path for the first vehicle to a number of second parallel paths that are substantially parallel to the path for the first vehicle after the turn of the first vehicle and offset to an opposite offset side of the first vehicle from a perspective of the first vehicle than the at least one offset side before the turn, wherein at least one of the number of other vehicles is on an opposite side of the first vehicle than the other number of other vehicles before the turn and after the turn such that each one of the number of other vehicles skips a number of rows in the turn, where the number of rows that are skipped in the turn is equal to the number of other vehicles, and wherein the number of other vehicles are a plurality of other vehicles, and further comprising;

    controlling a sequence of each of the plurality of other vehicles onto the path in the turn by controlling a speed and spacing of each of the plurality of other vehicles onto the path in the turn.

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