| CPC E02F 9/264 (2013.01) [E02F 9/205 (2013.01); G05D 1/0038 (2013.01); G05D 1/0238 (2013.01)] | 16 Claims |
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1. A method of detecting obstacles in a working area of a self-propelled work vehicle, the method comprising steps of:
receiving work state signals from one or more machine parameter sensors corresponding to a work state of the work vehicle, wherein different combinations of work state signal values correspond to different ones of a plurality of work states of the work vehicle;
determining a change in the work state from a transport state to a stationary operating state based at least in part on the work state signals;
receiving obstacle signals from one or more obstacle sensors corresponding to a detected presence or absence of an obstacle within an obstacle detection range relative to the work vehicle;
automatically adjusting the obstacle detection range based at least in part on the determined change in the work state; and
wherein the automatically adjusting includes after determining that the work vehicle has changed from the transport state to the stationary operating state, and after expiration of a predetermined time interval, adjusting the obstacle detection range from a first range to a second range shorter than the first range;
wherein the predetermined time interval is at least 10 seconds.
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