| CPC E02F 3/845 (2013.01) [E02F 9/2228 (2013.01); E02F 9/2278 (2013.01)] | 16 Claims |
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1. A work vehicle comprising:
a chassis;
a ground-engaging blade movably connected to the chassis via a linkage assembly configured to allow the blade to be raised and lowered relative to the chassis and moved in a roll direction relative to the chassis;
a first sensor configured to provide a chassis inclination signal indicative of a main fall angle of the chassis relative to a direction of gravity, a chassis roll signal indicative of a cross slope angle of the chassis relative to a direction of gravity, and a chassis heading signal indicative of a heading angle of a change from an initial heading to an updated heading;
a second sensor configured to provide a blade inclination signal indicative of an angle of the blade relative to one of the chassis and the direction of gravity and a blade roll signal indicative of an angle of the blade in the roll direction relative to one of the chassis and the direction of gravity; and
a controller configured to:
receive the chassis inclination signal, the chassis roll signal, and the chassis heading signal;
receive the blade inclination signal and the blade roll signal;
determine a target grade from an operator input and the chassis heading signal without localization;
determine an inclination distance error based on the chassis inclination signal and the blade inclination signal, the inclination distance error indicative of a distance between the blade and the target grade;
determine a roll distance error based on the chassis roll signal and the blade roll signal, the roll distance error indicative of a distance between the blade and the target grade;
send a command to move the blade toward the target grade based on the inclination distance error and the roll distance error; and
update the target grade according to the updated heading without localization.
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