System and method for coordinated control of agricultural vehicles

Patent metadata

Field	Value
Publication number	US-9915952-B2
Application number	US-201514738495-A
Country	US
Kind code	B2
Filing date	Jun 12, 2015
Priority date	Jun 13, 2014
Publication date	Mar 13, 2018
Grant date	Mar 13, 2018

Abstract

A control system for an agricultural vehicle includes a first transceiver configured to receive a first signal from a second transceiver of a target vehicle. The first signal is indicative of a first determined position and a first determined velocity of the target vehicle. The control system also includes a controller communicatively coupled to the first transceiver. The controller is configured to automatically control the agricultural vehicle by determining a target position and a target velocity of the agricultural vehicle based at least in part on the first determined position and the first determined velocity of the target vehicle, instructing an automated steering control system and an automated speed control system to direct the agricultural vehicle toward the target position, and instructing the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.

First claim

The invention claimed is:

1. A control system for an agricultural vehicle, comprising:
a first transceiver configured to be mounted on the agricultural vehicle, wherein the first transceiver, in operation, receives a first signal from a spatial locating device and an orientation sensor mounted on a target vehicle via a second transceiver of the target vehicle, wherein the first signal includes a first determined position of the target vehicle, a first determined velocity of the target vehicle, and a determined orientation of the target vehicle, wherein the determined orientation includes a pitch angle of the target vehicle, a roll angle of the target vehicle, a pitch rate of the target vehicle, a roll rate of the target vehicle, a yaw rate of the target vehicle, or any combination thereof; and
a controller communicatively coupled to the first transceiver, wherein the controller is configured to automatically control the agricultural vehicle by determining a target position and a target velocity of the agricultural vehicle based at least in part on the first determined position, the first determined velocity, and the determined orientation of the target vehicle, instructing an automated steering control system and an automated speed control system to direct the agricultural vehicle toward the target position, and instructing the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.

2. The control system of claim 1 , wherein the target position is laterally offset from the first determined position, longitudinally offset from the first determined position, or a combination thereof, relative to the target vehicle, and the target velocity is substantially equal to the first determined velocity.

3. The control system of claim 1 , wherein the controller is configured to detect the target vehicle upon reception of the first signal by the first transceiver.

4. The control system of claim 1 , wherein the first transceiver is configured to broadcast the first signal to other vehicles.

5. The control system of claim 1 , wherein the first signal comprises a steering angle of the target vehicle, a yaw angle of the target vehicle, or a combination thereof, and the controller is configured to adjust the target position based on the steering angle of the target vehicle, the yaw angle of the target vehicle, or the combination thereof.

6. The control system of claim 1 , wherein the controller is configured to determine a distance between the agricultural vehicle and the target vehicle, and to automatically control the agricultural vehicle while the distance is less than or equal to an engagement distance.

7. The control system of claim 1 , comprising a user interface communicatively coupled to the controller, wherein the user interface is configured to selectively instruct the controller to automatically control the agricultural vehicle based on operator input.

8. The control system of claim 7 , wherein the controller is configured to adjust the target position based on input from the user interface.

9. The control system of claim 1 , wherein the controller is configured to disengage automatic control of the agricultural vehicle upon receiving a third signal indicative of manual control of the agricultural vehicle.

10. The control system of claim 1 , wherein the first transceiver is configured to broadcast a second signal indicative of a second determined position of the agricultural vehicle, a second determined velocity of the agricultural vehicle, or a combination thereof.

11. A control system for an agricultural vehicle, comprising:
a first transceiver mounted on the agricultural vehicle, wherein the first transceiver, in operation, receives a first signal from a first spatial locating device and an orientation sensor mounted on a target vehicle via a second transceiver of the target vehicle, wherein the first signal includes a first determined position, a first determined velocity, and a determined orientation of the target vehicle, wherein the determined orientation includes a pitch angle of the target vehicle, a roll angle of the target vehicle, a pitch rate of the target vehicle, a roll rate of the target vehicle, a yaw rate of the target vehicle, or any combination thereof;
a second spatial locating device mounted on the agricultural vehicle and configured to determine a second determined position and a second determined velocity of the agricultural vehicle;
an automated steering control system configured to control a direction of movement of the agricultural vehicle;
an automated speed control system configured to control a speed of the agricultural vehicle; and
a controller communicatively coupled to the first transceiver, to the second spatial locating device, to the automated steering control system, and to the automated speed control system, wherein the controller is configured to automatically control the agricultural vehicle by determining a target position and a target velocity for the agricultural vehicle based at least in part on the first determined position, the first determined velocity, and the determined orientation of the target vehicle, determining a route to the target position based at least in part on the target position, the second determined position, the second determined velocity, and the determined orientation, instructing the automated steering control system and the automated speed control system to direct the agricultural vehicle toward the target position along the route, and instructing the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.

12. The control system of claim 11 , wherein the automated steering control system comprises a wheel angle control system, a differential braking system, a torque vectoring system, or a combination thereof, and the automated speed control system comprises an engine output control system, a transmission control system, a braking control system, or a combination thereof.

13. The control system of claim 11 , wherein the first signal comprises a steering angle of the target vehicle, a yaw angle of the target vehicle, or a combination thereof, and the controller is configured to determine the route to the target position based at least in part on the target position, the second determined position, the second determined velocity, the determined orientation, and at least one of the steering angle and the yaw angle.

14. The control system of claim 11 , comprising a user interface communicatively coupled to the controller, wherein the user interface is configured to selectively instruct the controller to automatically control the agricultural vehicle based on operator input.

15. The control system of claim 11 , wherein the controller is configured to determine a distance between the agricultural vehicle and the target vehicle based on the first determined position and the second determined position, and to automatically control the agricultural vehicle while the distance is less than or equal to an engagement distance.

16. A method for controlling an agricultural vehicle, comprising:
receiving, via a first transceiver mounted on the agricultural vehicle, a first signal including a first determined position, a first determined velocity, and a determined orientation of a target vehicle from a spatial locating device and an orientation sensor mounted on the target vehicle via a second transce

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc
• Autonomous Soltions Inc

Inventors

• Dollinger Tyson J
• Ray Brian R
• Rusciolelli Adam R
• Torrie Mitchel R
• Lewis Paul
• Hornberger Michael G
• Morwood Daniel J
• Berkemeier Matthew D

Classifications

• G05D1/0276 Primary

  using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058) · CPC title

• G05D2201/0201

  Physics · mapped topic

• A01D41/00

  Combines, i.e. harvesters or mowers combined with threshing devices · CPC title

• A01B69/008 Primary

  automatic · CPC title

• G05D1/0291

  Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127) · CPC title