Vehicle guidance based on tractor position
First Claim
1. A method for guiding a leading vehicle according to a desired trailing vehicle path, the method comprising:
- determining a first desired path for a rear hitch location of a designated trailing vehicle of an implement train including at least the designated trailing vehicle and a leading vehicle;
generating one or more proceeding paths for one or more intermediate locations along the implement train and a front hitch location of the leading vehicle with a propagation and transformation algorithm, generating the one or more proceeding paths with the propagation and transformation algorithm including;
propagating a preceding path of one of the rear hitch location or one of the one or more intermediate locations to an immediately proceeding location of one of the one or more intermediate locations or the front hitch location, wherein the first desired path is a first preceding path, andtransforming the preceding path according to intervening dimensional characteristics of the implement train to generate the proceeding path; and
generating a second guiding path for the front hitch location of the leading vehicle with the propagation and transformation algorithm based on the immediately preceding path of the intermediate location closest to the front hitch location.
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Accused Products
Abstract
Guiding a leading vehicle according to a desired trailing vehicle path includes generating one or more proceeding paths for one or more intermediate locations along an implement train between a trailing vehicle first location and a leading vehicle second location. The proceeding paths generated with a propagation and transformation algorithm that propagates a preceding path of one of the first location, such as the desired trailing vehicle path, or one of one or more intermediate locations to an immediately proceeding location, and transforms the preceding path according to dimensional characteristics of the implement train. A second guiding path is generated for the leading vehicle second location with the algorithm based on the immediately preceding path of the intermediate location closest to the second location. The method facilitates guidance of the trailing vehicle along the desired trailing vehicle path without navigation markers on the implement train except for the leading vehicle.
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Citations
28 Claims
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1. A method for guiding a leading vehicle according to a desired trailing vehicle path, the method comprising:
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determining a first desired path for a rear hitch location of a designated trailing vehicle of an implement train including at least the designated trailing vehicle and a leading vehicle; generating one or more proceeding paths for one or more intermediate locations along the implement train and a front hitch location of the leading vehicle with a propagation and transformation algorithm, generating the one or more proceeding paths with the propagation and transformation algorithm including; propagating a preceding path of one of the rear hitch location or one of the one or more intermediate locations to an immediately proceeding location of one of the one or more intermediate locations or the front hitch location, wherein the first desired path is a first preceding path, and transforming the preceding path according to intervening dimensional characteristics of the implement train to generate the proceeding path; and generating a second guiding path for the front hitch location of the leading vehicle with the propagation and transformation algorithm based on the immediately preceding path of the intermediate location closest to the front hitch location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for guiding a leading vehicle according to a desired trailing vehicle path, the method comprising:
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determining a first desired path for a rear hitch location of a designated trailing vehicle of one or more trailing vehicles of an implement train, the implement train including a leading vehicle having a front hitch location; generating a first direction unit vector at an instant point along the first desired path for the rear hitch location based on the instant point and one or more path points proceeding and preceding the instant point along the first desired path; and generating one or more proceeding path points for one or more intermediate locations along the implement train and the front hitch location of the leading vehicle with a propagation and transformation algorithm, generating the one or more proceeding path points with the propagation and transformation algorithm including; propagating a preceding path point of one of the rear hitch location or one of the one or more intermediate locations to an immediately proceeding location of one of the one or more intermediate locations or the front hitch location, wherein the first direction unit vector is a first preceding path point, and transforming the preceding path point according to intervening dimensional characteristics of the implement train to generate the proceeding path point; and generating a second guiding path point for the front hitch location with the propagation and transformation algorithm based on the immediately preceding path point of an intermediate location of the one or more intermediate locations closest to the front hitch location. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A system for guiding a leading vehicle according to a desired trailing vehicle path comprising:
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a map module including a first desired path for a rear hitch location of a designated trailing vehicle of an implement train including a leading vehicle; a dimensional characteristic module including dimensional characteristics for each of the vehicles of the implement train, the rear hitch location of the designated trailing vehicle, the front hitch location of the leading vehicle and one or more intermediate locations between the rear and front hitch locations; and a path transformation module configured to generate a second guiding path for a front hitch location of a leading vehicle based on the first desired path, wherein the designated trailing vehicle automatically follows the first desired path where the leading vehicle follows the second guiding path, the path transformation module includes; a propagation module in communication with the dimensional characteristic and the map modules, the propagation module configured to propagate and transform a preceding path to a proceeding path, the preceding path includes one or more of the first desired path and one or more intermediate paths associated with each of the respective one or more intermediate locations, and the proceeding path includes one or more of the intermediate paths and the second guiding path. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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Specification