Automatic ground speed control system for a work vehicle

• US 10,627,824 B2
• Filed: 06/27/2017
• Issued: 04/21/2020
• Est. Priority Date: 06/27/2017
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Runde, Jeffrey E., Liu, Qiang R.
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US15/634,089
• Publication Number:
  US 20180373257A1
• Time in Patent Office: 1,029 Days
• Field of Search: 701 50- 51, 701 93, 303123
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method and apparatus for automatically controlling ground speed of a work vehicle. The apparatus includes a speed sensor generating a vehicle speed signal, the speed sensor operatively connected to a controller. A traction device angle sensor generates an angle signal which represents an angle of the traction device with respect to an axis of the work vehicle, wherein the traction device angle sensor operatively connected to the controller. A vehicle guidance system is configured to generate a vehicle position signal, wherein the controller determines the ground speed of the vehicle based on at least one of: i) a tracking error of the vehicle relative to the vehicle position signal; ii) a planned curved vehicle path; iii) a planned location of the vehicle within a defined portion of a field; and iv) a planned path segment and an associated change in direction of travel of the work vehicle.

Claims

1. An automatic ground speed control system for a work vehicle having a prime mover supplying torque to a ground engaging traction device and an electronic control unit (ECU), the control system comprising:

a speed sensor generating a vehicle speed signal, the speed sensor operatively connected to the ECU;

a traction device angle sensor generating an angle signal which represents an angle of the traction device with respect to an axis of the work vehicle, the traction device angle sensor operatively connected to the ECU; and

a vehicle guidance system generating a vehicle position signal, wherein the ECU determines a direction of the vehicle position signal and further determines a ground speed limit of the work vehicle based on the direction of the work vehicle.

2. The automatic ground speed control system of claim 1, wherein the ECU determines the ground speed limit of the vehicle based on at least one of:

i) a tracking error of the vehicle relative to the vehicle position signal;

ii) a planned curved vehicle path;

iii) a planned location of the vehicle within a defined portion of a field; and

iv) a planned path segment and an associated change in direction of travel of the work vehicle.

3. The automatic ground speed control system of claim 2 wherein the tracking error comprises a lateral tracking error of the work vehicle with respect to a planned straight or curved line track.

4. The automatic ground speed control system of claim 3 wherein the ground speed limit of the vehicle is reduced based on the lateral tracking error exceeding a predefined error tolerance value or dynamically calculated optimal error value.

5. The automatic ground speed control system of claim 4 wherein the optimal error tolerance value is dynamically calculated by the ECU.

6. The automatic ground speed control system of claim 2 wherein the ground speed limit of the vehicle traveling along the planned curved vehicle path is reduced based on a current work vehicle speed exceeding a predefined speed for traveling along the planned curved vehicle path.

7. The automatic speed control system of claim 6 wherein the predefined speed for traveling along the planned curved vehicle path is provided to the ECU by an operator accessible input device.

8. The automatic ground speed control system of claim 2 wherein the ground speed limit of the vehicle is reduced in the planned location of the work vehicle within the defined portion of the field based on a current work vehicle speed exceeding a predefined speed for traveling within the defined portion of the field.

9. The automatic speed control system of claim 8 wherein the predefined speed limit for traveling within the defined portion of the field is provided to the ECU by an operator accessible input device.

10. The automatic speed control system of claim 2 wherein the ground speed limit is reduced with respect to the planned path segment based on the associated change in direction, wherein the associated change in direction requires a work vehicle stop or does not require a work vehicle stop before changing direction.

11. The automatic speed control system of claim 10 wherein the work vehicle change in direction location is optimally calculated by the ECU.

12. The automatic speed control system of claim 11 wherein the operator accessible device includes a direction drive shift lever or other direction drive input device.

13. An automatic ground speed control system for a work vehicle having a steerable wheel and a prime mover supplying torque to a ground engaging traction device, the control system comprising:

a speed sensor generating a vehicle speed signal;

a traction device angle sensor generating an angle signal which represents an angle of the traction device with respect to an axis of the work vehicle;

a vehicle guidance system generating a vehicle position signal;

a user interface device configured to receive one or more input values provided by an operator; and

control circuitry operatively connected to the speed sensor, the traction device angle sensor, the vehicle guidance system, and the user interface device, wherein the control circuitry includes a processor and a memory, wherein the memory is configured to store program instructions and the processor is configured to execute the stored program instructions to;

determine the input value received by the user interface device; and

determine a ground speed limit of the work vehicle based on a determined direction of the work vehicle and the determined input value.

14. The automatic ground speed control system of claim 13 wherein the processor is further configured to execute stored program instruction to:

determine the ground speed limit of the vehicle based on at least one of;

i) a lateral tracking error of the vehicle relative to the vehicle position signal;

ii) a planned curved vehicle path;

iii) a planned location of the vehicle within a defined portion of a field; and

iv) a planned path segment and an associated change in direction of travel of the work vehicle.

15. The automatic ground speed control system of claim 14 wherein the input value received by the user interface device includes one of:

i) a predefined error value for the lateral tracking error;

ii) a curvature threshold value;

iii) field work area speed limit; and

iv) a field headland speed limit.

16. The automatic ground speed control system of claim 15 wherein the processor is further configured to execute stored program instruction to:

reduce the ground speed limit of the vehicle based on one of;

i) the lateral tracking error exceeding the predefined error tolerance value;

ii) the curvature threshold value;

iii) the current work vehicle speed exceeding the field work area speed limit; and

iv) the current work vehicle speed exceeding the field headland speed limit.

17. The automated speed control system of claim 16 wherein the processor is further configured to execute stored program instruction to:

reduce the ground speed limit with respect to the planned path segment based on a change in direction.

18. A method of automatically controlling the ground speed of a work vehicle moving through a field having a working area and a headland area, the method comprising:

moving the vehicle at a defined ground speed limit along a predetermined straight vehicle path located in the working area;

reducing the defined ground speed limit based on a deviation of the work vehicle from the predetermined straight vehicle path when the deviation exceeds a predefined lateral error threshold;

moving the vehicle along a curved path defined in the headland area; and

reducing the defined ground speed limit based on a predefined curvature threshold value when the defined ground speed limit exceeds the associated predefined curvature threshold value.

19. The method of claim 18 further comprising:

increasing the reduced defined ground seed limit when the deviation from the predetermined straight vehicle path no longer exceeds the predefined lateral error threshold; and

adjusting the speed of the work vehicle based on the location of work vehicle within two or more different areas of the field including the working area and the headland area.

20. The method of claim 19 further comprising:

reducing the ground speed with respect to a planned path segment based on a change in direction.