Method and system for generating end turns

• US 8,209,075 B2
• Filed: 06/30/2008
• Issued: 06/26/2012
• Est. Priority Date: 07/31/2007
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Senneff, Aaron Matthew, Leiran, Brandon G., Roszhart, Timothy J.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US12/164,897
• Publication Number:
  US 20090037041A1
• Time in Patent Office: 1,457 Days
• Field of Search: 701/23, 701/26, 701/50, 701/200, 701/201, 701/207, 701/209, 701/213, 701/400, 701/408, 701/410, 701/411, 701/412, 701/416, 701/468
• US Class Current: 701/23
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface

Abstract

A method and system for controlling a vehicle comprises a boundary establisher for establishing a boundary of a work area. A vehicle position sensor (e.g., a location-determining receiver) determines a position of the vehicle. A planner module plans a raw turn of a vehicle to be executed in accordance with a model turn pattern if the position of the vehicle has traversed the boundary. An adjustment module may adjust the raw turn of the vehicle to a compensated turn such that an implement coupled to the vehicle follows an implement path that substantially tracks the model turn pattern.

Claims

1. A method for controlling a vehicle, the method comprising:

establishing an interior boundary within a work area and a border of the work area;

determining a position of the vehicle via a location determining receiver;

planning a raw turn of the vehicle to be executed in accordance with a model turn pattern when the determined position traverses the boundary;

adjusting the raw turn of the vehicle to a compensated turn such that an implement coupled to the vehicle follows an implement path that substantially tracks the model turn pattern;

evaluating an implement model to determine whether a raw turn is executable and capable of execution without traversing a geographic area greater than a specified area allocated for the raw turn; and

selecting an alternative type of turn when an initial selection is unexecutable within the specified area.

2. The method according to claim 1 wherein the implement path is estimated based on at least one of a receiver-determined position, a turn type or an implement model.

3. The method according to claim 2 wherein the implement model comprises at least one of implement geometry and implement configuration.

4. The method according to claim 2 wherein the implement path is estimated based on at least one of an implement-mounted, an optical positioning system or a laser positioning system suitable for measuring the implement position in real time relative to the receiver-determined position during the turn.

5. The method according to claim 1 wherein the adjusting is based on whether the implement is linkage mounted, hitch mounted, trailed or semi-mounted.

6. The method according to claim 1 further comprising:

tracking an intersection of the implement path with the boundary, and

determining a start point offset from the boundary and an end point offset from the boundary for the implement path proportional to a ground speed of the vehicle.

7. The method according to claim 1 further comprising:

mounting a position sensor on the implement such that the position sensor provides a relative position of the implement relative to the determined position of the location determining receiver mounted on the vehicle, wherein the adjusting uses the relative position to track the model turn pattern.

8. The method according to claim 1 further comprising:

allowing an operator operating the vehicle in the work area to dynamically select a turn mode corresponding to the model turn pattern from an alternate pass mode, a row skipping mode, and a bulb turn mode.

9. The method according to claim 8 further comprising:

allowing the operator to dynamically select the turn mode up to a minimum time duration or a minimum distance from approaching the boundary.

10. The method according to claim 1 further comprising:

allowing an operator to shift a starting point or an end point of the raw turn in the work area by an increment or a decrement to compensate for at least one of a field condition, a curve, a discontinuity, a jog, an obstacle, a variation or an irregularity in the boundary.

11. The method according to claim 10 further comprising:

limiting the increment or the decrement by a spatial shift or a temporal shift based on an impassable boundary beyond the boundary to avoid the vehicle or the implement traversing the impassible boundary.

12. The method according to claim 1 further comprising:

adjusting at least one of a starting point and an end point of the turn dynamically in the work area by an increment or a decrement based on a previous execution of a turn to align the end point with the boundary.

13. The method according to claim 1 further comprising:

alerting an operator via a user interface prior to executing the compensated turn.

14. A method for controlling a vehicle the method comprising:

establishing an interior boundary of a work area and a border of the work area;

determining a position of the vehicle via a location determining receiver;

planning, via a user interface of the vehicle while operating the vehicle in the work area, a raw turn of the vehicle to be executed from a starting point coincident with a vehicular path segment in accordance with a model turn pattern when the determined position traverses the interior boundary;

adjusting the raw turn of the vehicle to a compensated turn such that the vehicle and an implement coupled to the vehicle stay within an authorized zone between the interior boundary and the border of the work area and such that an end point of the compensated turn is generally aligned with or coextensive with a next vehicular path segment to be traversed within the work area;

evaluating an implement model to determine whether the raw turn is executable and capable of execution without traversing a geographic area greater than a specified area allocated for the raw turn; and

selecting an alternative type of turn when an initial selection is unexecutable within the specified area.

15. The method according to claim 14 wherein the adjusting comprises selecting the model turn pattern on a hierarchical basis.

16. The method according to claim 15 wherein the hierarchical basis prefers a row skipping mode as a preferential model turn pattern to an alternate pass mode and a bulb turn mode, unless insufficient space exists between the interior boundary and the border to execute the row skipping mode.

17. The method according to claim 16 wherein the hierarchical basis prefers the alternate pass mode as a preferential model turn pattern to the bulb turn mode, unless insufficient space exists between the interior boundary and the border to execute the alternate pass mode.

18. The method according to claim 14 further comprising:

allowing an operator operating the vehicle in the work area to dynamically select a turn mode corresponding to the model turn pattern from an alternate pass mode, a row skipping mode, and a bulb turn mode.

19. The method according to claim 18 further comprising:

allowing the operator to dynamically select the turn mode up to a minimum time duration or a minimum distance from approaching the interior boundary.

20. The method according to claim 14 further comprising:

allowing an operator to shift a start point or an end point of the turn in the work area by an increment or a decrement to compensate for at least one of a field condition, a curve, a discontinuity, a jog, an obstacle, a variation or an irregularity in at least one of the border or the interior boundary.

21. The method according to claim 20 further comprising:

limiting the increment or decrement by a spatial shift or temporal shift based on an impassable boundary beyond the boundary to avoid the vehicle or the implement traversing the impassible boundary.

22. The method according to claim 14 further comprising:

adjusting at least one of a starting point and an end point of the raw turn dynamically in the work area by an increment or a decrement based on a previous execution of a raw turn to align the end point with the interior boundary.

23. The method according to claim 14 further comprising:

alerting an operator via a user interface prior to executing the compensated turn.

24. A method for controlling a vehicle, the method comprising:

establishing a boundary of a work area;

determining a position of the vehicle via a location determining receiver;

planning a raw turn of the vehicle to be executed in accordance with a model turn pattern when the determined position traverses the boundary; and

adjusting the raw turn of the vehicle to a compensated turn such that an implement coupled to the vehicle follows an implement path that substantially tracks the model turn pattern;

where the implement model is evaluated to determine whether, or not, a raw turn is executable and capable of execution without traversing a geographic area greater than a specified area allocated for the raw turn; and

selecting an alternative type of turn when an initial selection is unexecutable within the specified area.