System and method for updating a speed calibration of a work vehicle

• US 10,392,016 B2
• Filed: 09/05/2017
• Issued: 08/27/2019
• Est. Priority Date: 09/05/2017
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Gorczowski, Walter Phillip
• Primary Examiner(s): Marc, Mcdieunel
• Application Number:
  US15/695,314
• Publication Number:
  US 20190071086A1
• Time in Patent Office: 721 Days
• CPC Class Codes: B60W 2050/0083 Setting, resetting, calibration
• CPC Class Codes: B60W 2300/15 Agricultural vehicles
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 50/04 Monitoring the functioning of the control system
• CPC Class Codes: B60Y 2200/221 Tractors
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A controller is configured to receive a first signal indicative of a spatial locating speed or a spatial locating position for determining the spatial locating speed. The controller is configured to determine a sensed speed of the work vehicle based on a calibration and a second signal indicative of a rotational rate of a wheel of the work vehicle, and to determine whether a difference between the sensed speed and the spatial locating speed exceeds a calibration threshold. In response to determining that the difference exceeds the calibration threshold, the controller is configured to update the calibration such that the sensed speed is substantially equal to the spatial locating speed, and update the sensed speed based on the updated calibration and the second signal. Further, the controller is configured to instruct a speed control system to limit a ground speed of the work vehicle based on the sensed speed.

Claims

1. A control system of a work vehicle, comprising:

a controller having a memory and a processor, wherein the controller is configured to;

receive a first signal from a spatial locating device indicative of a spatial locating speed of the work vehicle or a spatial locating position of the work vehicle for determining the spatial locating speed;

determine a sensed speed of the work vehicle based on a calibration and a second signal indicative of a rotational rate of a wheel of the work vehicle;

determine whether a difference between the sensed speed and the spatial locating speed exceeds a calibration threshold;

in response to determining that the difference exceeds the calibration threshold, update the calibration such that the sensed speed is substantially equal to the spatial locating speed, and update the sensed speed based on the updated calibration and the second signal; and

instruct a speed control system to limit a ground speed of the work vehicle based on the sensed speed.

2. The control system of claim 1, wherein the calibration comprises a rolling circumference of the wheel of the work vehicle.

3. The control system of claim 1, wherein the controller is configured to determine the sensed speed by multiplying the calibration by the rotational rate of the wheel.

4. The control system of claim 1, wherein the controller is configured to update the calibration by dividing the spatial locating speed by the rotation rate of the wheel.

5. The control system of claim 1, wherein the speed control system is configured to limit the ground speed of the work vehicle by instructing the speed control system to reduce the sensed speed in response to determining that the sensed speed is greater than a maximum sensed speed.

6. The control system of claim 1, wherein the controller is configured to determine whether one or both of the spatial locating speed and the sensed speed are substantially constant and whether one or both of the spatial locating speed and the sensed speed are above a speed threshold, and the calibration and the sensed speed are only updated in response to determining that one or both of the spatial locating speed and the sensed speed are substantially constant and whether one or both of the spatial locating speed and the sensed speed are above the speed threshold.

7. The control system of claim 1, wherein the controller is configured to determine whether a draft load on the work vehicle is substantially constant and below a load threshold, and the calibration and the sensed speed are only updated in response to determining that the draft load on the work vehicle is substantially constant and below the load threshold.

8. The control system of claim 1, wherein the controller is configured to determine whether a signal strength of the first signal from the spatial locating device is above a signal strength threshold, and the calibration and the sensed speed are only updated in response to determining that the signal strength is above the signal strength threshold.

9. The control system of claim 1, wherein the controller is configured to determine whether a steering angle of the work vehicle is below a steering angle threshold, and the calibration and the sensed speed are only updated in response to determining that the steering angle is below the steering angle threshold.

10. The control system of claim 1, wherein the controller is configured to receive a third signal from a user interface indicative of a request to update the calibration, and the calibration and the sensed speed are only updated in response to receiving the third signal from the user interface.

11. The control system of claim 1, wherein the calibration threshold is stored in the memory of the controller, and the calibration threshold comprises a percentage difference between the sensed speed and the spatial locating speed.

12. The control system of claim 1, wherein the controller is configured to output a fourth signal indicative of the calibration, the sensed speed, the spatial locating speed, or a combination thereof, to a display of the work vehicle.

13. A method for updating a calibration of a work vehicle, comprising:

receiving, via a controller, a first signal from a spatial locating device indicative of a spatial locating speed of the work vehicle or a spatial locating position of the work vehicle for determining the spatial locating speed;

determining, via the controller, a sensed speed of the work vehicle based on the calibration of the work vehicle and a second signal indicative of a rotational rate of a wheel of the work vehicle;

determining, via the controller, whether a difference between the sensed speed and the spatial locating speed exceeds a calibration threshold;

in response to determining that at least the difference exceeds the calibration threshold, and zero to two of the following;

the spatial locating speed and the sensed speed are substantially constant and above a speed threshold, and a draft load on the work vehicle is substantially constant and below a load threshold, updating, via the controller, the calibration such that the sensed speed is substantially equal to the spatial locating speed, and updating the sensed speed based on the updated calibration and the second signal; and

instructing, via the controller, a speed control system to limit a ground speed of the work vehicle based on the sensed speed.

14. The method of claim 13, wherein updating the calibration such that the sensed speed is substantially equal to the spatial locating speed comprises dividing, via the controller, the spatial locating speed by the rotational rate of the wheel.

15. The method of claim 13, comprising receiving, via the controller, a third signal from a user interface indicative of a request to update the calibration, and the calibration and the sensed speed are only updated in response to receiving the third signal from the user interface.

16. The method of claim 13, comprising outputting, via the controller, a fourth signal to a display of the work vehicle indicative of the calibration, the sensed speed, the spatial locating speed, or a combination thereof.

17. A control system of a work vehicle, comprising:

a spatial locating device configured to output a first signal indicative of a spatial locating speed of the work vehicle or a spatial locating position of the work vehicle for determining the spatial locating speed;

a rotation sensor configured to output a second signal indicative of a rotational rate of a wheel of the work vehicle;

a load sensor configured to output a third signal indicative of a draft load on the work vehicle;

a speed control system configured to control a ground speed of the work vehicle; and

a controller having a memory and a processor, wherein the controller is communicatively coupled to the spatial locating device, the rotation sensor, the load sensor, and the speed control system, and wherein the controller is configured to;

receive the first signal from the spatial locating device indicative of the spatial locating speed of the work vehicle or the spatial locating position of the work vehicle;

receive the second signal from the rotation sensor indicative of the rotational rate of the wheel;

receive the third signal from the load sensor indicative of the draft load;

determine a sensed speed of the work vehicle based on a calibration and the second signal;

determine whether a difference between the sensed speed and the spatial locating speed exceeds a calibration threshold;

in response to determining that the difference exceeds the calibration threshold, the spatial locating speed and the sensed speed are substantially constant and above a speed threshold, and the draft load on the work vehicle is substantially constant and below a load threshold, update the calibration such that the sensed speed is substantially equal to the spatial locating speed, and update the sensed speed based on the updated calibration and the second signal; and

instruct the speed control system to limit the ground speed of the work vehicle based on the sensed speed.

18. The control system of claim 17, comprising a steering angle sensor, wherein the controller is configured to receive a fourth signal from the steering angle sensor indicative of a steering angle of the work vehicle, and determine whether the steering angle is below a steering angle threshold, and the calibration and the sensed speed are only updated in response to determining that the steering angle is below the steering angle threshold.

19. The control system of claim 17, wherein the controller is configured to determine whether a signal strength of the first signal from the spatial locating device is above a signal strength threshold, and the calibration and the sensed speed are only updated in response to determining that the signal strength of the first signal is above the signal strength threshold.

20. The control system of claim 17, wherein the calibration comprises a rolling circumference of the wheel of the work vehicle.