Agricultural autopilot steering compensation
First Claim
Patent Images
1. A method for guiding a vehicle along a path comprising:
- providing an autopilot system including;
position, velocity and heading sensors; and
,steering actuators and drive wheel torque actuators;
estimating a state of the vehicle by digitally filtering data provided by the sensors; and
,reducing heading and cross-track errors between the state of the vehicle and a pre-programmed path by operating the steering actuators and the drive wheel torque actuators in response to a function of the errors.
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Abstract
Agricultural autopilot steering compensation provides improved steering control when steerable wheels lose traction and/or in tight turns.
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Citations
10 Claims
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1. A method for guiding a vehicle along a path comprising:
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providing an autopilot system including; position, velocity and heading sensors; and
,steering actuators and drive wheel torque actuators; estimating a state of the vehicle by digitally filtering data provided by the sensors; and
,reducing heading and cross-track errors between the state of the vehicle and a pre-programmed path by operating the steering actuators and the drive wheel torque actuators in response to a function of the errors. - View Dependent Claims (2, 3, 4, 5)
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6. An agricultural autopilot comprising:
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a steering wheel sensor; steering actuators and drive wheel torque actuators; and
,a microprocessor and memory that; i. estimate a desired steering angle based on data provided by the sensor and a digital filter, ii. operate the steering actuators and the drive wheel torque actuators to achieve an effective steering angle equal to the desired steering angle when the desired steering angle is less than or equal to an actual steering angle mechanical limit, and, iii. operate the steering actuators and the drive wheel torque actuators to achieve an effective steering angle greater than the actual steering angle when the desired steering angle is greater than the actual steering angle mechanical limit. - View Dependent Claims (7, 8, 9)
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10. A method for assisting an agricultural vehicle operator comprising:
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providing an autopilot system including; a steering wheel sensor; and
,steering actuators and drive wheel torque actuators; estimating a desired steering angle based on data provided by the sensor and a digital filter; operating the steering actuators and the drive wheel torque actuators to achieve an effective steering angle equal to the desired steering angle when the desired steering angle is less than or equal to an actual steering angle mechanical limit; and
,operating the steering actuators and the drive wheel torque actuators to achieve an effective steering angle greater than the actual steering angle when the desired steering angle is greater than the actual steering angle mechanical limit.
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Specification