System and method for generating and implementing an end-of-row turn path

US9968025B2 · kind B2 · utility

Assignees

• CNH Industrial America LLC · US
• Autonomous Solutions, Inc. · US

Inventors

• Nathan Eric Bunderson · Providence, US
• Daniel John Morwood · Petersboro, US
• Brian R. Ray · Chicago, US
• Peter J. Dix · Naperville, US
• Brendan Paul McCarthy · Willowbrook, US
• Bret Todd Turpin · Wellsville, US
• Brett McClelland · Chicago, US

Key dates

• Filing date: Jul 13, 2017
• Grant date: May 15, 2018
• Expiry date: Jul 13, 2037

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D2109/10
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method includes generating a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path includes a plurality of initial segments that are curved or straight, adding at least one continuity segment between each of the plurality of initial segments, wherein the at least one continuity segment includes a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path, determining, via an iterative process, a maximum drivable speed based on a minimum speed and a target speed, and implementing the continuous end-of-row turn path at the maximum drivable speed.