SYSTEM AND METHOD FOR CONTROLLING A VEHICLE WITH A SEQUENCE OF VEHICLE EVENTS

• US 20090037058A1
• Filed: 07/31/2007
• Published: 02/05/2009
• Est. Priority Date: 07/31/2007
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Martin, Michael J., Senneff, Aaron Matthew, Leiran, Brandon G., Roszhart, Timothy J., Falck, Peter Leslie
• Granted Patent: US 7,739,015 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: A01B 79/005 Precision agriculture

Abstract

A system and method for controlling a vehicle with a sequence of vehicle events. A user interface allows the recording of vehicle functions that are being manually executed. After the vehicle functions are entered, they can be saved as a sequence and named appropriately. Once saved, the operator can choose to edit the sequence functions or distances to make adjustments or shift the entire sequence in time. The saved sequence can be executed at a certain distance relative to a boundary being crossed by the machine. The boundaries themselves may be pre-defined in the system, and the system can determine when the boundary is crossed based on real-time GPS position and speed measurements from the vehicle. Error distances can also be measured on the ground to determine what type of sequence shift is needed for fine-tuning. As the vehicle speed is adjusted, the sequence can be continually tuned to allow the sequence to execute accurately in a variety of operations.

Claims

1. A method for controlling a vehicle, comprising:

establishing a boundary of a work area;

determining a position of a vehicle via a location-determining receiver;

establishing a sequence of vehicle events to be executed if the determined position traverses the boundary or approaches the boundary by less than a critical distance from the boundary, each vehicle event associated with a corresponding initiation time or an initiation position with reference to the boundary, the sequence associated with a corresponding particular target ground speed or target ground speed range; and

adjusting the initiation time or the initiation position of one or more vehicle events by a corrective offset if the actual vehicular speed falls outside of the target ground or target ground speed range.

2. The method of claim 1, wherein the corrective offset is based on a detected ground speed and a detected deceleration/acceleration of the vehicle detected between the critical distance and a buffer boundary, the buffer boundary being closer to the vehicle than the established boundary and prior to at least a last one of the vehicle events in the sequence.

3. The method of claim 1, further comprising modifying the sequence of vehicle events to add a vehicle event to the sequence or to delete a vehicle event from the sequence.

4. The method of claim 1, wherein at least one vehicle event comprises an implement event.

5. The method of claim 1, wherein the vehicle events comprise at least one of lowering an implement, raising an implement, lowering a hitch, raising a hitch, retracting a hitch, lowering a planter, raising a planter, lowering a cultivator, raising a cultivator, changing a speed of a power take-off shaft, increasing a speed of a shaft, decreasing a speed of a shaft, reducing a ground speed of a vehicle, increasing a ground speed of a vehicle, engaging or disengaging a limited slip differential, engaging a brake or a braking system of the vehicle, and controlling a vehicular steering system.

6. The method of claim 1, wherein the sequence of vehicle events are established by recording the vehicle events at the target speed, and further comprising executing the vehicle events at an execution speed that exceeds the target speed.

7. The method of claim 1, wherein the sequence of vehicle events are established by recording the vehicle events within a target speed range, and further comprising executing the vehicular events at an execution speed within the target speed range.

8. The method of claim 7, further comprising reducing a ground speed of the vehicle to the target speed range prior to reaching the boundary upon approaching the boundary by a threshold spatial range.

9. The method of claim 7, further comprising maintaining a ground speed of the vehicle within the target speed range during operation of the vehicle and prior to reaching the boundary.

10. The method of claim 1, wherein the sequence of vehicle events are established by recording manual operations executed by the operator via sensors associated with at least one of the vehicle and an implement attached to the vehicle.

11. The method of claim 1, wherein the sequence of vehicle events are established by recording manual operations executed by the operator via actuators associated with at least one of the vehicle and the implement attached to the vehicle.

12. The method of claim 1, wherein the establishing of the sequence of vehicle events comprises pre-establishing a non-editable sequence of the vehicular events as a pre-programmed or factory setting for a corresponding particular implement.

13. The method of claim 12, wherein each implement is assigned a target speed range.

14. The method of claim 1, wherein the sequence of vehicle events comprises:

adjusting an operational ground speed of the vehicle to the target ground speed prior to reaching the boundary at a first initiation time or first initiation position;

deactivating a power takeoff shaft at a second initiation time or second initiation position; and

raising a hitch associated with an implement at a third initiation time or a third initiation position.

15. The method of claim 14, further comprising:

deactivating a limited slip differential at a fourth initiation time or fourth initiation position; and

engaging the vehicle in a turn at a fifth initiation time or a fifth initiation position after the vehicle is operating at the target ground speed, and wherein the power takeoff shaft is deactivated and the hitch is raised.

16. The method of claim 14, further comprising:

deactivating a four wheel drive mode at a fourth initiation time or a fourth initiation position; and

engaging the vehicle in a turn at a fifth initiation time or a fifth initiation position after the vehicle is operating at the target ground speed, and wherein the power takeoff shaft is deactivated and the hitch is raised.

17. The method of claim 14, further comprising shifting a transmission of the vehicle from a current gear ratio to a different gear ratio associated with the propulsion of the vehicle.

18. The method of claim 1, wherein the establishing of the boundary comprises:

establishing an interior passable boundary within the work area where the sequence comprises at least decreasing an operational ground speed of the vehicle within a certain spatial range of approaching the interior passable boundary at a first initiation time or initiation position; and

raising an implement associated with the vehicle at a second initiation time or initiation position.

19. A method for controlling a vehicle, comprising:

establishing a boundary of a work area;

determining a position of a vehicle via a location-determining receiver;

establishing a sequence of vehicle events to be executed if the determined position traverses the boundary or approaches the boundary by less than a critical distance from the boundary, each vehicle event associated with a corresponding initiation time or an initiation position, the sequence associated with a corresponding particular ground speed or ground speed range; and

adjusting the vehicular speed to attain the target ground speed or the target ground speed range if the actual vehicular speed falls outside of the ground speed range for execution of the sequence.