Guidance system automatic wheel angle sensor calibration

• US 8,583,312 B2
• Filed: 08/22/2011
• Issued: 11/12/2013
• Est. Priority Date: 08/22/2011
• Status: Active Grant

• Current Assignee: AGCO Corporation
• Original Assignee: AGCO Corporation
• Inventors: Schreiber, Zachary J.
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): TESTARDI, DAVID A
• Application Number:
  US13/214,322
• Publication Number:
  US 20130054074A1
• Time in Patent Office: 813 Days
• Field of Search: 701/23, 701/41
• US Class Current: 701/23
• CPC Class Codes: B62D 15/0245 Means or methods for determination of the central position of the steering system, e.g. straight ahead position
• CPC Class Codes: B62D 5/0457 characterised by control features of the drive means as such

Abstract

In one embodiment, a wheel angle sensor calibration method, comprising, while a vehicle is moving, automatically causing movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position; recording wheel angle sensor values at the first and second full steering positions, respectively; determining an average of the wheel angle sensor values, the average corresponding to a target center wheel position; automatically causing movement of the vehicle to the target center wheel position; and responsive to the wheel angle sensor having a value equal to the average, recording the wheel angle sensor value as the target center wheel position.

Claims

1. A wheel angle sensor calibration method, comprising:

while a vehicle is moving, automatically causing movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position;

recording wheel angle sensor values at the first and second full steering positions, respectively;

determining an average of the wheel angle sensor values, the average corresponding to a target center wheel position;

automatically causing movement of the vehicle to the target center wheel position;

responsive to the wheel angle sensor having a value equal to the average, recording the wheel angle sensor value as the target center wheel position;

detecting a signal corresponding to manual movement by an operator of a steering wheel of the vehicle;

terminating the calibration responsive to the detection; and

alerting an operator via a user interface at a time corresponding to the termination of the calibration.

2. The method of claim 1, further comprising monitoring yaw sensor values corresponding to errors in the target center wheel position.

3. The method of claim 2, further comprising adjusting the recorded wheel angle sensor value corresponding to the target center wheel position to provide an adjusted target center wheel position, the adjusting based on the yaw sensor values.

4. The method of claim 1, further comprising updating a user through a user interface of the progress of the calibration.

5. The method of claim 4, wherein the user interface comprises a graphical user interface.

6. The method of claim 1, wherein automatically causing movement of the vehicle comprises actuating a spool component of a steering valve spool assembly.

7. The method of claim 6, wherein the steering valve spool assembly comprises a hydraulic-valve.

8. The method of claim 1, wherein recording the wheel angle sensor values at the first and second full steering positions is responsive to actuating a spool component of a steering valve spool assembly for a predetermined duration.

9. A wheel angle sensor calibration method, comprising:

while a vehicle is moving, automatically causing movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position;

recording wheel angle sensor values at the first and second full steering positions, respectively;

determining an average of the wheel angle sensor values, the average corresponding to a target center wheel position;

automatically causing movement of the vehicle to the target center wheel position; and

responsive to the wheel angle sensor having a value equal to the average, recording the wheel angle sensor value as the target center wheel position,

wherein automatically causing movement of the vehicle to the first and second full steering positions is responsive to reaching a predetermined vehicle travel speed, engine revolutions per minute (RPM), or a combination of vehicle travel speed and engine RPM.

10. The method of claim 9, further comprising providing a user interface to the operator with instructions corresponding to adjusting speed, RPM, or speed and RPM settings.

11. A system, comprising:

a first controller in a vehicle configured to;

automatically cause movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position while the vehicle is moving;

record wheel angle sensor values at the first and second full steering positions, respectively;

determine an average of the wheel angle sensor values, the average corresponding to a target center wheel position;

automatically cause movement of the vehicle to the target center wheel position;

record the wheel angle sensor value as the target center wheel position responsive to the wheel angle sensor having a value substantially equal to the average;

detect a signal corresponding to manual movement by an operator of a steering wheel of the vehicle;

terminate the calibration responsive to the detection; and

cause a user interface to alert an operator at a time corresponding to the termination of the calibration.

12. The system of claim 11, further comprising a second controller comprising a yaw sensor, the second controller configured to:

monitor yaw sensor values corresponding to errors in the target center wheel position; and

adjust the recorded wheel angle sensor value corresponding to the target center wheel position to provide an adjusted target center wheel position, the adjustment based on the yaw sensor values.

13. The system of claim 12, wherein the first controller and the second controller are configured in a processor system.

14. The system of claim 12, wherein the first controller and the second controller are configured in separate processor systems.

15. The system of claim 11, further comprising a wheel angle sensor, the first controller configured to record the wheel angle sensor values in memory responsive to receiving the wheel angle sensor values from the wheel angle sensor.

16. The system of claim 15, wherein the wheel angle sensor is integrated with the first controller.

17. A vehicle, comprising:

a frame body;

plural wheels coupled to the frame body;

a wheel angle sensor associated with at least one of the plural wheels; and

a guidance system configured to;

automatically cause movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position while the vehicle is moving;

record wheel angle sensor values at the first and second full steering positions, respectively;

determine an average of the wheel angle sensor values, the average corresponding to a target center wheel position;

automatically cause movement of the vehicle to the target center wheel position;

record the wheel angle sensor value as the target center wheel position responsive to the wheel angle sensor having a value substantially equal to the average;

monitor yaw sensor values corresponding to errors in the target center wheel position;

adjust the recorded wheel angle sensor value corresponding to the target center wheel position to provide an adjusted target center wheel position, the adjustment based on the yaw sensor values;

detect a signal corresponding to manual movement by an operator of a steering wheel of the vehicle;

terminate the calibration responsive to the detection; and

provide an alert to an operator at a time corresponding to the termination of the calibration.

18. A system, comprising:

a controller in a vehicle configured to;

automatically cause movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position while the vehicle is moving, wherein the controller automatically causes the movement in response to reaching a predetermined vehicle travel speed, engine revolutions per minute (RPM), or a combination of vehicle travel speed and engine RPM;

record wheel angle sensor values at the first and second full steering positions, respectively;

determine an average of the wheel angle sensor values, the average corresponding to a target center wheel position;

automatically cause movement of the vehicle to the target center wheel position; and

record the wheel angle sensor value as the target center wheel position responsive to the wheel angle sensor having a value substantially equal to the average.

19. A vehicle, comprising:

a frame body;

plural wheels coupled to the frame body;

a wheel angle sensor associated with at least one of the plural wheels; and

a guidance system configured to;

automatically cause movement of the vehicle to a first full steering position followed by automatic movement to a second full steering position while the vehicle is moving, wherein the controller automatically causes the movement in response to reaching a predetermined vehicle travel speed, engine revolutions per minute (RPM), or a combination of vehicle travel speed and engine RPM;

record wheel angle sensor values at the first and second full steering positions, respectively;

determine an average of the wheel angle sensor values, the average corresponding to a target center wheel position;

automatically cause movement of the vehicle to the target center wheel position;

record the wheel angle sensor value as the target center wheel position responsive to the wheel angle sensor having a value substantially equal to the average;

monitor yaw sensor values corresponding to errors in the target center wheel position; and

adjust the recorded wheel angle sensor value corresponding to the target center wheel position to provide an adjusted target center wheel position, the adjustment based on the yaw sensor values.