Steering assistance system for an agricultural vehicle

Patent metadata

Field	Value
Publication number	US-10577013-B2
Application number	US-201715846415-A
Country	US
Kind code	B2
Filing date	Dec 19, 2017
Priority date	Dec 20, 2016
Publication date	Mar 3, 2020
Grant date	Mar 3, 2020

Abstract

A steering assistance system for an agricultural vehicle includes a rigid axle on which steerable wheels are mounted and which is mounted so as to float relative to a supporting vehicle structure. The system includes a steering angle sensor for detecting a steering angle of the steerable wheels, a swing angle sensor for determining a swing angle of the rigid axle relative to the supporting vehicle structure, an actuating arrangement for influencing the steering angle, and a control unit that calculates a threshold value permissible for the steering angle depending on the detected swing angle. If the detected steering angle exceeds a tolerance range specified for the threshold value, the control unit executes steering interventions for reducing the steering angle by activating the actuating arrangement to satisfy the threshold value.

First claim

The invention claimed is:

1. A steering assistance system for an agricultural vehicle, comprising:
a rigid axle mounted to a supporting vehicle structure so as to float relative thereto;
steerable wheels mounted to the rigid axle;
a steering angle sensor for detecting a steering angle of the steerable wheels;
a swing angle sensor for determining a swing angle of the rigid axle relative to the supporting vehicle structure;
an actuating arrangement for influencing the steering angle; and
a control unit configured to calculate a threshold value permissible for the steering angle based on the detected swing angle;
wherein if the detected steering angle exceeds a tolerance range specified for the threshold value, the control unit is configured to execute steering interventions for reducing the steering angle by activating the actuating arrangement to comply with the permissible threshold value; and
wherein the steering interventions are executed by applying an operation torque to a steering manipulator of the agricultural vehicle for influencing the steering angle.

2. The steering assistance system of claim 1 , wherein:
the actuating arrangement comprises a component of a superimposed steering system;
the steering interventions being executed to adjust the steerable wheels or a steering manipulator for influencing the steering angle.

3. The steering assistance system of claim 1 , wherein the actuating arrangement is only activated if the control unit determines that a vehicle operating state characteristic of field operation is present.

4. The steering assistance system of claim 3 , wherein the control unit determines the presence of the vehicle operating state characteristic of field operation by evaluating an instantaneous travel speed or transmission ratio of the agricultural vehicle, an instantaneous vehicle position, or parameters that characterize the operating state of units provided for cultivation.

5. The steering assistance system of claim 1 , wherein the actuating arrangement is activated subject to an operator enable signal transmitted via a user interface to the control unit.

6. The steering assistance system of claim 1 , wherein:
the rigid axle is resiliently suspended relative to the supporting vehicle structure,
the control unit configured to modify the calculation of the permissible threshold value for the steering angle according to an axle position relative to the supporting vehicle structure as detected by a position sensor.

7. The steering assistance system of claim 1 , wherein the control unit receives information about a tire type or a tire model that is used when calculating the threshold value permissible for the steering angle.

8. The steering assistance system of claim 7 , wherein the information about the tire type or tire model is input via a user interface in communication with the control unit.

9. An agricultural vehicle, comprising:
a rigid axle mounted to a supporting vehicle structure so as to float relative thereto;
steerable wheels mounted to the rigid axle;
a steering angle sensor for detecting a steering angle of the steerable wheels;
a swing angle sensor for determining a swing angle of the rigid axle relative to the supporting vehicle structure;
an actuating arrangement for influencing the steering angle; and
a control unit configured to calculate a threshold value permissible for the steering angle based on the detected swing angle;
wherein if the detected steering angle exceeds a tolerance range specified for the threshold value, the control unit is configured to execute steering interventions for reducing the steering angle by activating the actuating arrangement to comply with the permissible threshold value; and
wherein the steering interventions are executed by applying an operation torque to a steering manipulator of the agricultural vehicle for influencing the steering angle.

10. The agricultural vehicle of claim 9 , wherein:
the actuating arrangement comprises a component of a superimposed steering system;
the steering interventions being executed to adjust the steerable wheels or a steering manipulator for influencing the steering angle.

11. The agricultural vehicle of claim 9 , wherein the actuating arrangement is only activated if the control unit determines that a vehicle operating state characteristic of field operation is present.

12. The agricultural vehicle of claim 11 , wherein the control unit determines the presence of the vehicle operating state characteristic of field operation by evaluating an instantaneous travel speed or transmission ratio of the agricultural vehicle, an instantaneous vehicle position, or parameters that characterize the operating state of units provided for cultivation.

13. The agricultural vehicle of claim 9 , wherein the actuating arrangement is activated subject to an operator enable signal transmitted via a user interface to the control unit.

14. The agricultural vehicle of claim 9 , wherein:
the rigid axle is resiliently suspended relative to the supporting vehicle structure,
the control unit configured to modify the calculation of the permissible threshold value for the steering angle according to an axle position relative to the supporting vehicle structure as detected by a position sensor.

15. The agricultural vehicle of claim 9 , wherein the control unit receives information about a tire type or a tire model that is used when calculating the threshold value permissible for the steering angle.

16. The agricultural vehicle of claim 15 , wherein the information about the tire type or tire model is input via a user interface in communication with the control unit.

17. A steering assistance system for an agricultural vehicle, comprising:
a rigid axle mounted to a supporting vehicle structure so as to float relative thereto;
steerable wheels mounted to the rigid axle;
a steering angle sensor for detecting a steering angle of the steerable wheels;
a swing angle sensor for determining a swing angle of the rigid axle relative to the supporting vehicle structure;
an actuating arrangement for influencing the steering angle; and
a control unit configured to calculate a threshold value permissible for the steering angle based on the detected swing angle;
wherein if the detected steering angle exceeds a tolerance range specified for the threshold value, the control unit is configured to execute steering interventions for reducing the steering angle by activating the actuating arrangement to comply with the permissible threshold value; and
wherein the actuating arrangement is only activated if the control unit determines that a vehicle operating state characteristic of field operation is present.

18. A steering assistance system for an agricultural vehicle, comprising:
a rigid axle mounted to a supporting vehicle structure so as to float relative thereto;
steerable wheels mounted to the rigid axle;
a steering angle sensor for detecting a steering angle of the steerable wheels;
a swing angle sensor for determining a swing angle of the rigid axle relative to the supporting vehicle structure;
an actuating arrangement for influencing the steering angle; and
a control unit configured to calculate a threshold value permissible for the steering angle based on the detected swing angle;
wherein if the detected steering angle exceeds a tolerance range specified for the threshold value, the control unit is configured to execute steering interventions for reducing the steering angle by activating the actuating arrangement to comply with the permi

Assignees

• Deere & Co

Inventors

• Weber Uwe

Classifications

• B60G9/027

  the axle having either a triangular, a "T" or "U" shape and being directly articulated with the chassis only by its middle apex, e.g. De Dion suspension · CPC title

• B62D6/003

  in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence) · CPC title

• B62D9/00

  Steering deflectable wheels not otherwise provided for (steering positon indicators B62D15/02) · CPC title

• B62D15/021

  Determination of steering angle · CPC title

• B60G2200/324

  with a single pivot point and a triangular "T" or "U"-shaped axle, e.g. DeDion arrangement · CPC title