| CPC E02F 9/262 (2013.01) [E02F 9/2041 (2013.01); E02F 9/2253 (2013.01)] | 12 Claims |
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1. A system for operating a work vehicle to load a container, the system comprising:
the work vehicle including
a frame,
a boom having a proximal end coupled to the frame and a distal end opposite the proximal end,
an implement coupled to the distal end of the boom,
at least one perception sensor configured to sense an approaching environment during travel of the work vehicle, and
at least one ground speed sensor configured to sense a condition related to a ground speed of the work vehicle;
a user interface including
controls configured to command at least some operations of the work vehicle, and
indicators configured to indicate at least one status related to the work vehicle; and
a controller operatively coupled to the controls, the indicators, the at least one perception sensor, and the at least one ground speed sensor, the controller configured to
receive a user command via the controls to move the work vehicle toward the container,
output a control signal to drive the work vehicle toward the container,
determine a distance between the work vehicle and the container,
determine the ground speed of the work vehicle,
determine a boom raising start distance between the work vehicle and the container,
receive a user command via the controls to raise the boom,
if the user command to raise the boom occurs prior to the work vehicle reaching the boom raising start distance from the container, in response to the user command to raise the boom, output a control signal to begin raising the boom at a first speed regardless of speed commanded by the user command, and
after the work vehicle has reached the boom raising start distance from the container, output a control signal to begin raising the boom at a second speed, the second speed being faster than the first speed.
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