System and method for providing towed implement compensation

• US 8,190,364 B2
• Filed: 06/05/2009
• Issued: 05/29/2012
• Est. Priority Date: 06/30/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Rekow, Andrew Karl Wihelm
• Primary Examiner(s): Dickson, Paul N
• Assistant Examiner(s): Wilhelm, Timothy
• Application Number:
  US12/478,975
• Publication Number:
  US 20090326763A1
• Time in Patent Office: 1,089 Days
• Field of Search: 701/50, 701/213, 701/214, 701/300, 701/302, 701/412, 701/417, 701/422, 701/466, 701/468
• US Class Current: 701/466
• CPC Class Codes: A01B 69/006 derived from the steering of the tractor
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

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.

Claims

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;

O_N⁼O_Pe<sup>(−

2d/l)</sup>

where O_N is the modified vehicle offset headin O_p 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.

2. The method according to claim 1 wherein the calculating of the implement offset heading further comprises estimating the first implement location based on a the first vehicle location and a model of implement position as a function of vehicle movement and position.

3. The method according to claim 1 wherein the calculating of the implement offset heading further comprises estimating the first implement location based on a second location determining receiver on the implement.

4. The method according to claim 1 wherein the calculating of the implement offset heading further comprises estimating the first implement location based on the first location determining receiver that is selectively coupled to a first antenna on the vehicle or a second antenna on the implement.

5. The method as claimed in claim 1, further comprising:

if the implement is located at a second implement location, and the second implement location is a lesser distance from the targeted track than the first implement location, decreasing or decrementing the vehicle offset heading.

6. The method as claimed in claim 5, further comprising:

dynamically calculating an updated modified vehicle offset heading relative to the targeted track based on the decremented vehicle offset heading and based on a dynamically-calculated updated vehicle lateral error.

7. The method as claimed in claim 6, further comprising:

dynamically providing a steering control signal based on the updated modified vehicle offset heading.

8. A method as claimed in claim 7, further comprising:

based on the updated implement offset heading, dynamically calculating an updated vehicle offset heading relative to the targeted track.

9. The method as claimed in claim 1, further comprising:

if the implement is located at a second implement location, and the second implement location is a greater distance from the targeted track than the first implement location, dynamically calculating an updated implement offset heading relative to the targeted track.

10. A method as claimed in claim 9, further comprising:

dynamically calculating an updated modified vehicle offset heading relative to the targeted track based on the updated vehicle offset heading and based on a dynamically-calculated updated vehicle lateral error.

11. A method as claimed in claim 10, further comprising:

dynamically providing a steering control signal based on the updated modified vehicle offset heading.

12. A method as claimed in claim 10, wherein said towed implement compensation is provided during automatic steering control resumption.

13. A computer program product, comprising:

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;

O_N⁼O_Pe<sup>(−

2d/l)</sup>

where O_N is the modified vehicle offset headin O_p 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.

14. The computer program product as claimed in claim 13, further comprising:

computer usable program code for, when the implement is located at a second implement location, and the second implement location is a lesser distance from the targeted track than the first implement location, dynamically decrementing the vehicle offset.

15. The computer program product as claimed in claim 13, further comprising:

computer usable program code for dynamically calculating an updated modified vehicle offset relative to the targeted track based on the decremented vehicle offset and based on a dynamically-calculated updated vehicle lateral error.

16. The computer program product as claimed in claim 15, further comprising:

computer usable program code for dynamically providing a steering control signal based on the updated modified vehicle offset.

17. The computer program product as claimed in claim 13, further comprising:

computer usable program code for, when the implement is located at a second implement location, and the second implement location is a greater distance from the targeted track than the first implement location, dynamically calculating an updated implement offset relative to the targeted track.

18. The computer program product as claimed in claim 13, further comprising:

computer usable program code for, based on the updated implement offset, dynamically calculating an updated vehicle offset relative to the targeted track.

19. The computer program product as claimed in claim 18, further comprising:

computer usable program code for dynamically calculating an updated modified vehicle offset relative to the targeted track based on the updated vehicle offset and based on a dynamically-calculated updated vehicle lateral error.

20. The computer program product as claimed in claim 18, further comprising:

computer usable program code for dynamically providing a steering control signal based on the updated modified vehicle offset.

21. The computer program product as claimed in claim 13, wherein said towed implement compensation is provided during automatic steering control resumption.

22. 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 an exponentially decreasing function of the calculated vehicle offset and a distance traveled by the implement during the second time period.