System and method for calculating instantaneous placement corrections to achieve towed implement placement on curved paths
First Claim
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1. A method for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising:
- determining instantaneous placement corrections from a predetermined track along the curved path for the ground vehicle for achieving a desired towed implement trajectory along the curved path;
calculating an instantaneous ground vehicle offset from the predetermined track using the instantaneous placement corrections; and
correcting the trajectory of the ground vehicle using the instantaneous ground vehicle offset for adjusting the path of the ground vehicle so that the towed implement at least substantially follows the curved path.
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Abstract
A global positioning system (GPS) based navigation and steering control system for ground vehicles, in particular, agricultural ground vehicles such as tractors, combines, sprayers, seeders, or the like, calculates instantaneous placement corrections to achieve desired towed implement placement on curved paths, and a method for same.
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Citations
20 Claims
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1. A method for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising:
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determining instantaneous placement corrections from a predetermined track along the curved path for the ground vehicle for achieving a desired towed implement trajectory along the curved path; calculating an instantaneous ground vehicle offset from the predetermined track using the instantaneous placement corrections; and correcting the trajectory of the ground vehicle using the instantaneous ground vehicle offset for adjusting the path of the ground vehicle so that the towed implement at least substantially follows the curved path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising:
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a processing system for determining the instantaneous placement corrections from a predetermined track along the curved path for the ground vehicle for achieving a desired towed implement trajectory along the curved path and calculating an instantaneous ground vehicle offset from the predetermined track using the steady state ground vehicle offset; and a steering control unit for correcting the trajectory of the ground vehicle using the instantaneous placement corrections, wherein the steering control unit adjusts the path of the ground vehicle so that the towed implement at least substantially follows the curved path. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A system for controlling the steering of a ground vehicle towing an implement to achieve a desired placement of the towed implement on a curved path, comprising:
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means for determining instantaneous placement corrections from a predetermined track along the curved path for the ground vehicle for achieving a desired towed implement trajectory along the curved path and calculating an instantaneous ground vehicle offset from the predetermined track using the steady state ground vehicle offset; and means for correcting the trajectory of the ground vehicle using the instantaneous placement corrections, wherein the correcting unit adjusts the path of the ground vehicle so that the towed implement at least substantially follows the curved path. - View Dependent Claims (20)
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Specification