System and method for providing towed implement compensation
First Claim
1. A method for providing real-time, towed implement compensation, comprising:
- calculating a vehicle offset heading relative to a targeted vehicle track for a vehicle located at a first vehicle location determined by a first location-determining receiver on the vehicle;
calculating an implement offset heading relative to a targeted implement track for an implement located at a first implement location associated with the first vehicle location;
determining a modified vehicle offset heading relative to the targeted vehicle track based on the calculated vehicle offset heading and the calculated implement offset heading to minimize the calculated vehicle offset heading, the calculated implement offset heading, and a vehicle lateral error, the vehicle lateral error defining a shortest linear distance between the first vehicle location and the targeted vehicle track; and
providing a steering control signal based on the determined modified vehicle offset over a first time period, the modified vehicle offset gradually introduced to a steering controller over a second time period, shorter than the first time period, based on the calculated vehicle offset and a distance traveled by the implement during the second time period, wherein the providing of the steering control signal further comprises gradually decreasing or decaying the modified vehicle offset heading in accordance with the following equation;
ON=OPe(−
2d/l) where ON is the modified vehicle offset headin Op is the previous vehicle offset or the calculated vehicle offset heading, e is the exponential function, d is the distance traveled by the implement during the second time period, and l is the length of the implement.
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Accused Products
Abstract
A method for providing real-time, towed implement compensation comprises dynamically calculating an implement offset relative to a targeted track for an implement located at a first implement location. Based on the calculated implement offset, a vehicle offset is dynamically calculated relative to the targeted track for a vehicle located at a first vehicle location. The method further includes dynamically calculating a modified vehicle offset relative to the targeted track based on the calculated vehicle offset and based on a dynamically-calculated vehicle lateral error. The method further includes dynamically providing a steering control signal based on the calculated modified vehicle offset.
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Citations
22 Claims
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1. A method for providing real-time, towed implement compensation, comprising:
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calculating a vehicle offset heading relative to a targeted vehicle track for a vehicle located at a first vehicle location determined by a first location-determining receiver on the vehicle; calculating an implement offset heading relative to a targeted implement track for an implement located at a first implement location associated with the first vehicle location; determining a modified vehicle offset heading relative to the targeted vehicle track based on the calculated vehicle offset heading and the calculated implement offset heading to minimize the calculated vehicle offset heading, the calculated implement offset heading, and a vehicle lateral error, the vehicle lateral error defining a shortest linear distance between the first vehicle location and the targeted vehicle track; and providing a steering control signal based on the determined modified vehicle offset over a first time period, the modified vehicle offset gradually introduced to a steering controller over a second time period, shorter than the first time period, based on the calculated vehicle offset and a distance traveled by the implement during the second time period, wherein the providing of the steering control signal further comprises gradually decreasing or decaying the modified vehicle offset heading in accordance with the following equation;
ON=OPe (−
2d/l)where ON is the modified vehicle offset headin Op is the previous vehicle offset or the calculated vehicle offset heading, e is the exponential function, d is the distance traveled by the implement during the second time period, and l is the length of the implement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A computer program product, comprising:
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a computer useable medium including computer usable program code for performing a method for providing real-time, towed implement compensation for a vehicle implementing a satellite-based navigation system comprising; computer usable program code for dynamically calculating an implement offset relative to a targeted track for an implement located at a first implement location; computer usable program code for, based on the calculated implement offset, dynamically calculating a vehicle offset relative to the targeted track for a vehicle located at a first vehicle location; computer usable program code for dynamically calculating a modified vehicle offset relative to the targeted track based on the calculated vehicle offset and based on a dynamically-calculated vehicle lateral error; and computer usable program code for dynamically providing a steering control signal based on the calculated modified vehicle offset, wherein the providing of the steering control signal further comprises gradually decreasing or decaying the modified vehicle offset heading in accordance with the following equation;
ON=OPe (−
2d/l)where ON is the modified vehicle offset headin Op is the previous vehicle offset or the calculated vehicle offset heading, e is the exponential function, d is the distance traveled by the implement during the second time period, and l is the length of the implement. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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22. A method for providing real-time, towed implement compensation, comprising:
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calculating a vehicle offset heading relative to a targeted vehicle track for a vehicle located at a first vehicle location determined by a first location-determining receiver on the vehicle; calculating an implement offset heading relative to a targeted implement track for an implement located at a first implement location associated with the first vehicle location; determining a modified vehicle offset heading relative to the targeted vehicle track based on the calculated vehicle offset heading and the calculated implement offset heading to minimize the calculated vehicle offset heading, the calculated implement offset heading, and a vehicle lateral error, the vehicle lateral error defining a shortest linear distance between the first vehicle location and the targeted vehicle track; and providing a steering control signal based on the determined modified vehicle offset over a first time period, the modified vehicle offset gradually introduced to a steering controller over a second time period, shorter than the first time period, based on an exponentially decreasing function of the calculated vehicle offset and a distance traveled by the implement during the second time period.
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Specification