System and method for speed-based coordinated control of agricultural vehicles

• US 10,398,084 B2
• Filed: 01/06/2017
• Issued: 09/03/2019
• Est. Priority Date: 01/06/2016
• Status: Active Grant

• Current Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Ray, Brian Robert, Dix, Peter John, Morwood, Daniel John, Hornberger, Michael G.
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US15/400,406
• Publication Number:
  US 20170192419A1
• Time in Patent Office: 970 Days
• CPC Class Codes: A01D 43/07 in or into a trailer A01D43/077 takes precedence
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

Abstract

A control system for a haul vehicle, includes a first transceiver configured to receive a first signal from a second transceiver, wherein the first signal is indicative of a first determined position and a first determined velocity of the target vehicle. The control system includes a controller communicatively coupled to the first transceiver, wherein the controller automatically controls the speed of the haul vehicle by determining a desired position and a desired speed of the haul vehicle based at least in part on the first determined position and the first determined velocity of the target vehicle, instructing an automated speed control system to establish the ground speed of the haul vehicle to reach the target position, and instructing the automated speed control system to control the ground speed of the haul vehicle to maintain the target position, including during turning of the target and haul vehicles.

Claims

1. A control system for a haul vehicle, comprising:

a first transceiver configured to receive a signal from a second transceiver, wherein the signal is indicative of a first determined position of a target vehicle and a first determined velocity of the target vehicle; and

a controller communicatively coupled to the first transceiver, wherein the controller is configured to automatically control the speed of the haul vehicle by;

determining a target position of the haul vehicle and a target speed of the haul vehicle based at least in part on the first determined position and the first determined velocity;

determining a first radius of curvature of the target vehicle based at least in part on the first determined position and the first determined velocity;

determining a second radius of curvature of the haul vehicle based at least in part on the first radius of curvature and the target position;

instructing an automated speed control system to establish a ground speed of the haul vehicle to reach the target position; and

instructing the automated speed control system to control the ground speed of the haul vehicle to maintain the target position during docking of the haul vehicle with the target vehicle, while docked, and during turning of both the target vehicle and the haul vehicle, wherein, during turning of both the target vehicle and the haul vehicle, instructing the automated speed control system to control the ground speed of the haul vehicle based at least in part on the first radius of curvature, the second radius of curvature, and the first determined velocity of the target vehicle.

2. The control system of claim 1, wherein the target position is radially offset from the first determined position, laterally offset from the first determined position, longitudinally offset from the first determined position, or a combination thereof, relative to the target vehicle, and the target speed is substantially equal to the first determined velocity.

3. The control system of claim 1, wherein the controller is configured to detect the target vehicle upon reception of the signal by the first transceiver.

4. The control system of claim 1, wherein the first transceiver is configured to broadcast the signal to other vehicles.

5. The control system of claim 1, wherein the signal comprises an indication indicative of at least one parameter defining the position of the target vehicle, a speed of the target vehicle, a measurement of moment of inertia of the target vehicle, a steering angle of the target vehicle, a heading angle of the target vehicle, a pitch angle of the target vehicle, a roll angle of the target vehicle, a yaw angle of the target vehicle, or a combination thereof, and wherein the controller is configured to adjust the target position based on the indication indicative of the at least one parameter.

6. The control system of claim 1, wherein the controller is configured to determine a first speed of the target vehicle and a second speed of the haul vehicle, and to automatically adjust the second speed of the haul vehicle when the first speed varies from the second speed by more than a threshold range.

7. The control system of claim 1, wherein determining the first radius of curvature comprises calculating the first radius of curvature based at least in part on a heading angle and a steer angle of the target vehicle, and wherein determining the second radius of curvature comprises calculating the second radius of curvature based at least in part on a heading angle and a steer angle of the haul vehicle when the haul vehicle and the target vehicle are turning.

8. The control system of claim 1, comprising a user interface communicatively coupled to the controller, wherein the user interface is configured to selectively instruct the controller to automatically control the haul vehicle based on operator input.

9. The control system of claim 8, wherein the controller is configured to adjust the ground speed of the haul vehicle, steering of the haul vehicle, or both, based on input from the user interface.

10. The control system of claim 1, wherein the second transceiver is configured to broadcast a second signal indicative of a second determined position of the target vehicle, a second determined velocity of the target vehicle, or a combination thereof.

17. The control system of claim 1, wherein the second transceiver is configured to broadcast a second signal indicative of a second determined position of the target vehicle, a second determined velocity of the target vehicle, or a combination thereof.

11. A control system for an agricultural vehicle, comprising:

a first transceiver configured to receive a signal from a second transceiver, wherein the signal is indicative of a first determined position of a target vehicle and a first determined velocity of the target vehicle;

a spatial locating device mounted on a haul vehicle and configured to determine a second determined position and a second determined velocity of the haul vehicle;

an automated speed control system configured to control a speed of the haul vehicle; and

a controller communicatively coupled to the first transceiver, to the spatial locating device, and to the automated speed control system, wherein the controller is configured to automatically control the speed of the haul vehicle by;

determining a target position of the haul vehicle and a target speed of the haul vehicle based at least in part on the first determined position and the first determined velocity;

determining a first radius of curvature of the target vehicle based at least on the first determined position and the first determined velocity;

determining a second radius of curvature of the haul vehicle based at least in part on the first radius of curvature and the target position;

instructing the automated speed control system to establish a ground speed of the haul vehicle to reach the target position; and

instructing the automated speed control system to control the ground speed of the haul vehicle to maintain the target position during docking of the haul vehicle with the target vehicle, while docked, and during turning of both the target vehicle and the haul vehicle, wherein, during turning of both the target vehicle and the haul vehicle, instructing the automated speed control system to control the ground speed of the haul vehicle based at least in part on the first radius of curvature, the second radius of curvature, and the first determined velocity of the target vehicle.

12. The control system of claim 11, wherein the signal comprises an indication indicative of at least one parameter defining the position of the target vehicle, a speed of the target vehicle, a measurement of moment of inertia of the target vehicle, a steering angle of the target vehicle, a heading angle of the target vehicle, a pitch angle of the target vehicle, a roll angle of the target vehicle, a yaw angle of the target vehicle, or any combination thereof, and wherein the controller is configured to determine the route to the target position of the haul vehicle based at least in part on the indication of the at least one parameter.

13. The control system of claim 11, comprising a user interface communicatively coupled to the controller, wherein the user interface is configured to selectively instruct the controller to automatically control the ground speed of the haul vehicle based on operator input.

14. The control system of claim 11, wherein the controller is configured to determine a difference in speed between the target vehicle and the haul vehicle based on the first radius of curvature and the second radius of curvature, and to automatically control the haul vehicle when the difference in speed is outside of an acceptable speed range.

15. The control system of claim 14, wherein determining the first radius of curvature comprises calculating the first radius of curvature based at least in part on a heading angle and a steer angle of the target vehicle, and wherein determining the second radius of curvature comprises calculating the second radius of curvature based at least in part on a heading angle and a steer angle of the haul vehicle when the agricultural vehicle and the haul vehicle are turning.

16. The control system of claim 11, wherein the controller is configured to adjust a target position and/or speed of the haul vehicle based on input from the user interface.

19. The method of claim 16, wherein determining the target position comprises applying a target lateral offset between the agricultural vehicle and the target vehicle to the first determined position.

18. A method for controlling an agricultural vehicle, comprising:

receiving a signal indicative of a first determined position of the target vehicle and a first determined velocity of the target vehicle;

determining a target position of the agricultural vehicle and a target speed of the agricultural vehicle based at least in part on the first determined position and the first determined velocity;

determining a first radius of curvature of the target vehicle based at least in part on the first determined position and the first determined velocity;

determining a second radius of curvature of the agricultural vehicle based at least in part on the first radius of curvature and the target position;

instructing an automated speed control system to establish a ground speed of the agricultural vehicle sufficient to reach the target position; and

instructing the automated speed control system to control the ground speed of the agricultural vehicle to maintain the target position upon substantially reaching the target position during docking of the agricultural vehicle with the target vehicle, while docked, and during turning of both the target vehicle and the agricultural vehicle, wherein, during turning of both the target vehicle and the agricultural vehicle, instructing the automated speed control system to control the ground speed of the agricultural vehicle is based on the first radius of curvature and the second radius of curvature.

20. The method of claim 18, wherein determining the target speed of the agricultural vehicle comprises multiplying the first determined velocity by a ratio of the second radius of curvature to the first radius of curvature.