Override for guidance control system

• US 6,198,992 B1
• Filed: 10/10/1997
• Issued: 03/06/2001
• Est. Priority Date: 10/10/1997
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Winslow, Phillip D.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/948,843
• Time in Patent Office: 1,243 Days
• Field of Search: 701/23, 701/25, 701/28, 701/41, 701/43, 701/201, 701/96, 180/169, 180/443
• US Class Current: 701/23
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers

Abstract

A method and apparatus which overrides a guidance control system so as to disengage the automatic steering control feature when an emergency condition is determined to exist. A sensor is coupled to the steering system which detects movement of the steering wheel. When movement of the steering wheel is sufficiently abrupt, the logic of the override system generates an override signal. The override signal is communicated to the guidance control system so as to return control of the vehicle to the user. The sensor is connected to either the steering wheel itself or to the hydraulic system. When the vehicle includes an electro-hydraulic system, the logic system may be directly connected to the electrical circuits of the electro-hydraulic system. Multiple sensors may be used for activation of the override. In one embodiment a sensor is coupled to the braking system for sensing depression of the brake pedal. In another embodiment, a sensor is coupled to the clutch system for sensing depression of the clutch petal. In an alternate embodiment, the speed and rate of turn of the vehicle are compared to the turn rate profile of the vehicle to determine whether an emergency condition exists. In yet another embodiment, a tilt rate sensor is also used to determine if an emergency condition exists.

Claims

1. For a tractor that includes a steering system and a guidance control system that has an automatic steering control feature that can be engaged so as to automatically control the steering system, a method of overriding the guidance control system comprising:

a) monitoring a first sensor coupled to a steering wheel, said first sensor for detecting the rate of movement of said steering wheel;

b) monitoring a second sensor coupled to said steering wheel for detecting the amount of movement of said steering wheel;

c) overriding said guidance control system when said first sensor indicates that the rate of movement of said steering wheel is greater than a rate threshold and when the amount of movement of said steering wheel is greater than a movement quantity threshold so as to return control of the tractor to the operator of the tractor;

d) monitoring the speed of the tractor;

e) determining the rate of turn of the tractor;

f) comparing the rate of turn and the speed of the tractor to the turn rate profile of the tractor so as to determine whether an emergency condition exists; and

g) overriding said guidance control system when said the comparison of step f) indicates that the rate of turn exceeds the maximum rate of turn for the speed of the tractor.

2. The method of claim 1 wherein a tilt sensor is monitored, and wherein step f) further comprises

comparing the rate of turn and the speed of the tractor and the tilt of the tractor to the turn rate profile of the tractor so as to determine whether an emergency condition exists and wherein step g) further comprises

overriding said guidance control system when the rate of turn exceeds the maximum rate of turn for the speed of the tractor and the tilt of the tractor.

3. An override system for a tractor that includes a steering system including a steering wheel and a guidance control system that includes an automatic steering control feature, said override system including:

a first sensor coupled to said steering system for detecting the rate of movement of said steering wheel;

a second sensor coupled to said steering system for detecting the amount of movement of said steering wheel; and

a control unit coupled to said first sensor and coupled to said guidance control system, said control unit overriding said guidance control system so as to disengage said automatic steering control feature when the rate of movement of said steering wheel is greater than a rate threshold and when the amount of movement of said steering wheel is greater than a movement quantity threshold, said control unit comparing the rate of turn and the speed of the tractor to the turn rate profile of the tractor and overriding said guidance control system when the rate of turn exceeds the maximum rate of turn for the speed of the tractor so as to return control of the tractor to the operator of the tractor.