US 11,891,778 B2
Vehicle auto turning control system
David A. Veasy, Dubuque, IA (US); Nathan J. Horstman, Durango, IA (US); and Craig Christofferson, Dubuque, IA (US)
Assigned to DEERE & COMPANY, Moline, IL (US)
Filed by DEERE & COMPANY, Moline, IL (US)
Filed on May 16, 2019, as Appl. No. 16/413,814.
Claims priority of provisional application 62/719,409, filed on Aug. 17, 2018.
Prior Publication US 2020/0056348 A1, Feb. 20, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B62D 9/00 (2006.01); E02F 9/20 (2006.01); B62D 6/00 (2006.01); B62D 1/12 (2006.01); E02F 9/08 (2006.01); B62D 12/00 (2006.01); B62D 7/15 (2006.01); B62D 15/02 (2006.01); E02F 3/84 (2006.01)
CPC E02F 9/2087 (2013.01) [B62D 1/12 (2013.01); B62D 6/002 (2013.01); B62D 6/007 (2013.01); B62D 7/15 (2013.01); B62D 12/00 (2013.01); B62D 15/021 (2013.01); B62D 15/025 (2013.01); E02F 9/0841 (2013.01); E02F 9/2004 (2013.01); B60Y 2200/20 (2013.01); E02F 3/841 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for adjusting articulation angle in an auto steering operation of a work vehicle, comprising:
receiving a signal indicative of a percentage of travel of an articulation joystick;
calculating an articulation desired angle change partially based on the percentage of travel of the articulation joystick;
adding the articulation desired angle change to an articulation last desired angle which was a previous articulation desired angle to obtain an articulation desired angle;
calculating a difference between an articulation angle detected by an articulation angle sensor and the articulation desired angle to obtain an auto steering articulation error; and
adjusting the articulation angle by an articulation actuator based on the auto steering articulation error;
wherein calculating the articulation desired angle change is further based on a task rate, a total articulation angle, and an auto steering cycle time.