Path Detection-Based Steering Command Filtering Method for Motor Grader Automatic Articulation Feature
First Claim
1. A method of operating a motor grader having steerable front wheels and a front and rear frame pivotally connected at an articulation joint, comprising:
- selecting an automatic articulation mode, the automatic articulation mode having a constant curve mode;
propelling the motor grader along a direction of travel;
commanding front wheel steering to turn the motor grader;
providing a plurality of front wheel steering corrections to an electronic controller;
filtering the plurality of front wheel steering corrections using a method for filtering steering corrections based on the constant curve mode, wherein the method generates filtered front wheel steering corrections; and
automatically commanding articulation of the front frame relative to the rear frame about the articulation joint in response to the filtered front wheel steering corrections.
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Accused Products
Abstract
An apparatus and method are provided for operating a motor grader having steerable front wheels and a front and rear frame pivotally connected at an articulation joint. The method includes selecting an automatic articulation mode, and commanding front wheel steering to turn the motor grader, providing a plurality of front wheel steering corrections to an electronic controller, filtering the plurality of front wheel steering corrections using a method for filtering steering corrections based on the constant curve mode, wherein the method generates filtered front wheel steering corrections, and automatically commanding articulation of the front frame relative to the rear frame about the articulation joint in response to the filtered front wheel steering corrections.
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Citations
20 Claims
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1. A method of operating a motor grader having steerable front wheels and a front and rear frame pivotally connected at an articulation joint, comprising:
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selecting an automatic articulation mode, the automatic articulation mode having a constant curve mode; propelling the motor grader along a direction of travel; commanding front wheel steering to turn the motor grader; providing a plurality of front wheel steering corrections to an electronic controller; filtering the plurality of front wheel steering corrections using a method for filtering steering corrections based on the constant curve mode, wherein the method generates filtered front wheel steering corrections; and automatically commanding articulation of the front frame relative to the rear frame about the articulation joint in response to the filtered front wheel steering corrections. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for filtering a plurality of front wheel steering corrections associated with a motor grader, the method associated with an electronic controller associated with the motor grader, the electronic controller configured to control the motor grader in an automatic articulation mode, wherein the automatic articulation mode comprises a constant curve mode, the method comprising:
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receiving n front wheel steering corrections from the plurality of front wheel steering corrections; determining if an angular measure for each of the n front wheel steering corrections from the plurality of front wheel steering corrections are within an acceptable steering correction angular range associated with the constant curve mode; and determining if a timespan of each member of the n front wheel steering corrections from the plurality of front wheel steering corrections are within an acceptable timespan range associated with the constant curve mode. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A motor grader having an automatic articulation mode including a constant curve mode, the motor grader comprising:
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one or more steerable front wheels mounted on a front portion of the motor grader; one or more steerable wheels attached to a rear portion of the motor grader that may be articulated relative to the front portion; and a controller configured for receiving a plurality of front wheel steering corrections and in response generating a steering correction to steer the one or more front wheels, wherein the plurality of front wheel steering corrections are filtered using a method for filtering steering corrections based on a constant curve mode, wherein the method generates filtered front wheel steering corrections, and automatically commanding articulation of the one or more steerable wheels attached to the rear portion in response to the filtered front wheel steering corrections. - View Dependent Claims (20)
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Specification