Control of vehicular systems in response to anticipated conditions predicted using predetermined geo-referenced maps

• US 5,995,895 A
• Filed: 07/15/1997
• Issued: 11/30/1999
• Est. Priority Date: 07/15/1997
• Status: Expired due to Term

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.), CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: Case Corporation (CNH Industrial N.V.)
• Inventors: Watt, John D., Vogel, Peter J., Faivre, Stephen M., Morrow, James G., Salzman, Gerald E., Orsborn, Jesse H., McMillen, Richard E.
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US08/892,789
• Time in Patent Office: 868 Days
• Field of Search: 701/50, 701/207, 701/213, 701/208, 701/52, 701/53, 701/56, 701/93, 701/58, 701/68, 701/65, 342/357, 342/457, 342/357.06, 342/357.13, 342/357.17, 56/10.2 R, 56/10.2 A, 56/10.2 B, 56/10.2 C, 56/10.2 G, 56/11.1, 56/11.3, 56/11.9
• US Class Current: 701/50
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01D 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 75/28 Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
• CPC Class Codes: B60K 31/0058 responsive to externally generated signalling
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60Y 2200/22 Agricultural vehicles
• 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
• CPC Class Codes: Y02P 60/14 Measures for saving energy, e.g. in green houses

Abstract

A control system for controlling a vehicle system at least partly in response to an anticipated condition along the vehicle'"'"'s course of travel is disclosed herein. The vehicle includes a drive train powered by an engine, and the anticipated condition may affect engine load. The control system includes a location signal generation circuit for receiving positioning signals and generating location signals therefrom, a memory circuit for storing a predetermined geo-referenced map including map data indicative of anticipated conditions along the course of travel which may affect engine load, and a control circuit. The control circuit predicts the anticipated condition using at least the location signals and the map data, generates a control signal based at least upon the anticipated condition, and applies the control signal to the vehicle system. The prediction of the anticipated condition can be calibrated using results of a comparison between a sensed actual condition and an earlier-predicted anticipated condition. Anticipated conditions include anticipated slopes, crop conditions and soil conditions. Crop conditions can be anticipated using aerial photography. The controlled vehicle systems include speed actuators, transmissions, crop processors, energy exchangers, clutches and differential locks.

Claims

1. In an agricultural working vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling a vehicle system at least partly in response to an anticipated condition along the course of travel which will affect engine load, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions of crop along the course of travel which will affect engine load; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the vehicle system, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate a control signal based at least upon the anticipated condition to accommodate the affect on engine load, and to apply the control signal to the vehicle system.

2. The control system of claim 1 further including a sense circuit coupled to the control circuit, the sense circuit being configured to generate a sensed signal representative of an actual condition along the course of travel, wherein the control circuit compares the actual condition to an earlier-predicted anticipated condition for substantially the same position of the vehicle, and the comparison results are used to calibrate the prediction of a further anticipated condition.

3. The control system of claim 1 wherein the location signal generation circuit includes a global positioning system (GPS) receiver.

4. The control system of claim 1, wherein the map data also represents altitudes along the course of travel, and the control circuit is also configured to predict an anticipated slope based upon a change in altitude along the course, and the control signal also depends on the anticipated slope.

5. The control system of claim 1 wherein the agricultural working vehicle is an agricultural harvesting vehicle.

6. The control system of claim 5 wherein the vehicle system includes a crop processor having settings selected in response to the control signal, whereby the selected setting depends upon the anticipated condition.

7. The control system of claim 1 wherein the control circuit is further configured to determine an expected position of the vehicle forward of the current position along the course of travel, and the anticipated condition depends on the expected position.

8. The control system of claim 7 further including a speed sense circuit coupled to the control circuit, the speed sense circuit configured to generate a speed signal representative of vehicle speed, the expected position being an offset distance forward of the current position, and the offset distance depending upon the vehicle speed.

9. The control system of claim 1 wherein the vehicle system includes a device selected from the group consisting of a speed actuator, a transmission, an energy exchanger, a clutch, and a differential.

10. The control system of claim 1 wherein the map data which is indicative of anticipated conditions of crop along the course of travel is predetermined before the vehicle begins to travel along the course of travel.

11. The control system of claim 1 wherein the map data which is indicative of anticipated conditions of crop along the course of travel is predetermined for a position in a field before the vehicle reaches the position.

13. The control system of claim 10 further including a draft force sensing circuit coupled to the control circuit and configured to generate a sensed draft force signal, wherein the control circuit compares the sensed draft force to an earlier-predicted anticipated soil condition for substantially the same position of the vehicle, and the comparison results are used to calibrate the prediction of a further anticipated soil condition.

12. In a vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling a vehicle system at least partly in response to an anticipated condition along the course of travel which will affect engine load, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions along the course of travel which will affect engine load; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the vehicle system, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate a control signal based at least upon the anticipated condition to accommodate the affect on engine load, and to apply the control signal to the vehicle system;

wherein the vehicle is an agricultural tractor including a hitch assembly configured to pull an implement through soil, and the map data represents anticipated soil conditions along the course of travel.

15. The control system of claim 12 wherein the map data represents altitudes along the course of travel, and the anticipated condition includes the anticipated slope based upon a change in altitude along the course.

14. In a vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling vehicle speed at least partly in response to an anticipated condition along the course of travel which will affect engine load, the vehicle speed dependent upon settings of a speed actuator, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions along the course of travel which will affect engine load;

a target speed input device for generating a target speed signal representative of a target speed for the vehicle;

a speed sense circuit for generating a speed signal representative of vehicle speed; and

a control circuit coupled to the location signal generation circuit, the memory circuit, the target speed input device the speed sense circuit and the speed actuator, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate a control signal based at least upon the anticipated condition to accommodate the affect on engine load, and to apply the control signal to the speed actuator, wherein the generation of the control signal is further based upon a comparison between the target speed and vehicle speed, and the anticipated condition includes an anticipated slope along the course of travel.

16. The control system of claim 14 wherein, when the anticipated slope indicates an anticipated down-hill slope, the control circuit adjusts the control signal to decrease the vehicle speed.

17. The control system of claim 16 further including a speed variation input device coupled to the control circuit for generating a speed variation signal, wherein the control signal is adjusted to keep the vehicle speed within a range of the target speed determined by the speed variation signal.

18. The control system of claim 14 wherein, when the anticipated slope indicates an anticipated up-hill slope, the control circuit adjusts the control signal to increase the vehicle speed.

19. The control system of claim 14 wherein the control circuit is further configured to predict a turn based upon a change in direction forward of the current position along the course of travel, and the control signal further depends upon the predicted turn.

20. The control system of claim 19 wherein, before a predicted turn, the control circuit adjusts the control signal to decrease the vehicle speed.

21. The control system of claim 20 further including a speed variation input device coupled to the control circuit for generating a speed variation signal, wherein the control signal is adjusted to keep the vehicle speed within a range of the target speed determined by the speed variation signal.

22. The control system of claim 20 wherein the decrease in vehicle speed due to a predicted turn is inhibited based upon at least one of:

(a) the vehicle speed and (b) the radius of the predicted turn.

23. In a vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling vehicle speed at least partly in response to an anticipated condition along the course of travel which will affect engine load, the vehicle speed dependent upon settings of a speed actuator, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions along the course of travel which will affect engine load; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the speed actuator, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate a control signal based at least upon the anticipated condition to accommodate the affect on engine load, and to apply the control signal to the speed actuator;

wherein the vehicle is an agricultural harvesting vehicle, and the map data represents anticipated conditions of crop along the course of travel.

24. The control system of claim 23 wherein the anticipated condition is selected from the group consisting of anticipated crop yield, anticipated total mass flow and anticipated moisture content.

25. The control system of claim 24 further including a sense circuit coupled to the control circuit, the sense circuit configured to generate a sensed signal representative of an actual condition of crop along the course of travel, wherein the control circuit compares the actual condition to an earlier-predicted anticipated condition for substantially the same position of the vehicle, and the comparison results are used to calibrate the prediction of a further anticipated condition.

26. The control system of claim 25 further including a loss sense circuit coupled to the control circuit for generating crop loss signals representative of crop loss and, when the anticipated condition is one of anticipated crop yield and anticipated total mass flow, the results of the comparison account for the crop loss at substantially the same position of the vehicle.

27. In an agricultural working vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling a transmission at least partly in response to an anticipated condition along the course of travel, the transmission having a ratio selected in response to a control signal, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions of crop along the course of travel; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the transmission, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate the control signal based at least upon the anticipated condition, and to apply the control signal to the transmission.

28. The control system of claim 27 wherein the transmission is an automatic transmission having a plurality of gears selected in response to the control signal, whereby the selected gear depends upon the anticipated condition.

29. The control system of claim 28 wherein the memory circuit further stores a plurality of gear shift scheduling maps for scheduling shifts among the plurality of gears, and one of the scheduling maps is selected in response to the anticipated condition.

30. The control system of claim 27 wherein the transmission is a hydrostatic transmission for setting a speed ratio between the engine and vehicle wheels in response to the control signal, whereby the speed ratio depends upon the anticipated condition.

31. The control system of claim 27 wherein the map data also represents altitudes along the course of travel, and the control circuit is also configured to predict an anticipated slope based upon a change in altitude along the course, and the control signal also depends on the anticipated slope.

32. The control system of claim 31 wherein, when the anticipated slope indicates an anticipated change in altitude, the ratio is set to a value different than the ratio selected when the anticipated slope is flat.

33. The control system of claim 27 wherein the agricultural working vehicle is an agricultural harvesting vehicle.

34. The control system of claim 33 further including a sense circuit coupled to the control circuit, the sense circuit configured to generate a sensed signal representative of an actual condition of crop along the course of travel, wherein the control circuit compares the actual condition to an earlier-predicted anticipated condition for substantially the same position of the vehicle, and the comparison results are used to calibrate the prediction of a further anticipated condition.

35. In a vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling a transmission at least partly in response to an anticipated condition along the course of travel, the transmission having a ratio selected in response to a control signal, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions along the course of travel; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the transmission, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate the control signal based at least upon the anticipated condition, and to apply the control signal to the transmission;

wherein the control circuit is further configured to predict a turn based upon a change in direction forward of the current position along the course of travel, and the control signal further depends upon the predicted turn.

36. In an agricultural harvesting vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling a vehicle system at least partly in response to an anticipated condition of crop along the course of travel, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions of crop along the course of travel; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the vehicle system, the control circuit being configured to predict the anticipated condition of crop using at least the location signals and the map data, to generate a control signal based at least upon the anticipated condition of crop, and to apply the control signal to the vehicle system.

37. The control system of claim 36 wherein the anticipated condition is selected from the group consisting of anticipated crop yield, anticipated total mass flow and anticipated moisture content.

38. The control system of claim 36 wherein the vehicle system includes a speed actuator for setting vehicle speed in response to the control signal, whereby the vehicle speed depends upon the anticipated condition.

39. The control system of claim 38 wherein the anticipated condition is selected from the group consisting of anticipated crop yield and anticipated total mass flow, and the vehicle speed setting has an inverse relationship with the anticipated condition.

40. The control system of claim 39 further including a loss sensing circuit coupled to the control circuit for generating crop loss signals representative of crop loss, and the vehicle speed setting further depends upon the crop loss.

41. The control system of claim 36 wherein the vehicle system includes a transmission having a ratio selected in response to the control signal, whereby the selected ratio depends upon the anticipated condition.

42. The control system of claim 36 wherein the vehicle system includes a crop processor having settings selected in response to the control signal, whereby the selected setting depends upon the anticipated condition.

43. The control system of claim 42 wherein the crop processor includes a rotor for threshing the crop, the rotor speed selected in response to the control signal.

44. The control system of claim 42 wherein the crop processor includes a threshing assembly including a rotor and a concave located at least partially around the rotor, the concave being separated from the rotor by a concave clearance distance which is adjustable in response to the control signal.

45. The control system of claim 42 wherein the crop processor includes at least one sieve having openings which are adjustable in response to the control signal.

46. The control system of claim 42 wherein the crop processor includes a cleaning fan configured to create an airflow across at least one sieve, the cleaning fan speed selected in response to the control signal.

47. The control system of claim 36 further including a sense circuit coupled to the control circuit, the sense circuit configured to generate a sensed signal representative of an actual condition of crop along the course of travel, wherein the control circuit compares the actual condition to an earlier-predicted anticipated condition for substantially the same position of the vehicle, and the comparison results are used to calibrate the prediction of a further anticipated condition.

48. In an agricultural working vehicle driven by a drive train along a course of travel, a control system for controlling an energy exchanger at least partly in response to an anticipated condition along the course of travel, the energy exchanger configured to exchange energy between an energy storage device and the drive train, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions of crop along the course of travel; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the energy exchanger, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate a control signal based at least upon the anticipated condition, and to apply the control signal to the energy exchanger.

49. The control system of claim 48 wherein the energy storage device is selected from the group consisting of a flywheel and a battery.

50. The control system of claim 48 wherein the map data also represents altitudes along the course of travel, and the control circuit is also configured to predict an anticipated slope based upon a change in altitude along the course, and the control signal also depends on the anticipated slope.

51. In an agricultural harvesting vehicle including a drive train powered by an engine for moving along a course of travel over a field, a method of controlling a vehicle system at least partly in response to an anticipated condition of crop along the course of travel, the method comprising the steps of:

generating a geo-referenced map of the field including data indicative of anticipated conditions of crop along the course of travel by remotely sensing the field prior to harvest, digitizing and geo-referencing the sensed signals, and storing the geo-referenced and digitized signals in a memory circuit;

receiving positioning signals from an external source as the vehicle travels in the field and generating location signals therefrom which represent the current position of the vehicle;

predicting the anticipated condition using at least the location signals and the map data; and

generating a control signal based at least upon the anticipated condition and applying the control signal to the vehicle system.

52. The method of claim 51 further comprising the steps of:

generating a sensed signal representative of an actual condition of crop along the course of travel;

comparing the actual condition of crop to an earlier-predicted anticipated condition for substantially the same position of the vehicle; and

calibrating the prediction of a further anticipated condition of crop using the results of the comparison.

53. The method of claim 51 wherein the step of generating a geo-referenced map of the field includes taking an aerial photograph of the field.

54. The method of claim 51 wherein the step of generating a geo-referenced map of the field includes generating spectral images of the field.

55. The method of claim 54 wherein the step of generating spectral images of the field includes generating images using an airborne sensor.

56. The method of claim 54 wherein the step of generating spectral images of the field includes generating images using a spaceborne sensor.

57. The method of claim 51 wherein the step of generating a geo-referenced map of the field takes place before the vehicle begins to travel along the course of travel.

58. The method of claim 51 wherein the step of generating a geo-referenced map of the field takes place such that anticipated conditions of crop along the course of travel are predetermined for a position in the field before the vehicle reaches the position.

59. In an agricultural working vehicle including a drive train powered by an engine for moving along a course of travel, a control system for controlling a device selected from the group consisting of a clutch and a differential at least partly in response to an anticipated condition along the course of travel, the device being engaged and disengaged in response to a control signal, comprising:

a location signal generation circuit supported by the vehicle and configured to receive positioning signals and to generate location signals therefrom which represent the current position of the vehicle;

a memory circuit for storing a predetermined geo-referenced map including spatially-variable map data indicative of anticipated conditions of crop along the course of travel; and

a control circuit coupled to the location signal generation circuit, the memory circuit and the device, the control circuit being configured to predict the anticipated condition using at least the location signals and the map data, to generate the control signal based at least upon the anticipated condition, and to apply the control signal to the device.