System and method for automatic guidance control of a vehicle
First Claim
1. A method for automatically guiding a vehicle, the method comprising:
- engaging an automatic guidance control system to steer a vehicle to acquire a predetermined swath;
measuring a speed of the vehicle;
determining a heading difference for the vehicle relative to a heading of the predetermined swath;
determining a rate of change of the heading difference;
determining a cross track error for the vehicle relative to the predetermined swath;
determining a rate of change of the cross track error;
calculating a control parameter with the automatic guidance control system in response to the measured vehicle speed, the determined heading difference, the determined rate of change of the heading difference, the determined cross track error and the determined rate of change of the cross track error;
generating a control signal to steer the vehicle based on the calculated control parameter;
determining an operating condition for the vehicle;
calculating a response limit for the calculated control parameter in response to the determined operating condition;
adjusting the generated control signal by the calculated response limit; and
applying the adjusted control signal to the vehicle to steer the vehicle to acquire the predetermined swath.
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Accused Products
Abstract
A system and method is provided for adaptive control of at least one parameter of an auto guidance control algorithm for a vehicle. The parameters may be varied according to a previously established look up table, or automatically adapted through the use of control logic, such as a “fuzzy logic” algorithm. The control parameters that can be adaptively controlled include steered wheel turn rate, proportional valve current gain, line acquisition rate and/or auto guidance control valve current limits. The control algorithm responds to the vehicle'"'"'s operating parameters such as vehicle speed, tracking error, predicted heading, and hydraulic oil temperature to make adjustments to the auto guidance control parameters.
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Citations
9 Claims
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1. A method for automatically guiding a vehicle, the method comprising:
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engaging an automatic guidance control system to steer a vehicle to acquire a predetermined swath; measuring a speed of the vehicle; determining a heading difference for the vehicle relative to a heading of the predetermined swath; determining a rate of change of the heading difference; determining a cross track error for the vehicle relative to the predetermined swath; determining a rate of change of the cross track error; calculating a control parameter with the automatic guidance control system in response to the measured vehicle speed, the determined heading difference, the determined rate of change of the heading difference, the determined cross track error and the determined rate of change of the cross track error; generating a control signal to steer the vehicle based on the calculated control parameter; determining an operating condition for the vehicle; calculating a response limit for the calculated control parameter in response to the determined operating condition; adjusting the generated control signal by the calculated response limit; and applying the adjusted control signal to the vehicle to steer the vehicle to acquire the predetermined swath. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification