US 11,052,943 B2
System and method for controlling a vehicle
Nathan Eric Bunderson, Providence, UT (US); John Arthur Mitsuru Petersen, Providence, UT (US); and Brian Robert Ray, Chicago, IL (US)
Assigned to CNH Industrial America LLC, New Holland, PA (US)
Filed by CNH Industrial America LLC, New Holland, PA (US); and Autonomous Solutions, Inc., Mendon, UT (US)
Filed on Nov. 8, 2018, as Appl. No. 16/184,824.
Application 16/184,824 is a continuation of application No. 15/098,131, filed on Apr. 13, 2016, granted, now 10,144,453.
Prior Publication US 2019/0077456 A1, Mar. 14, 2019
Int. Cl. B62D 15/02 (2006.01); G01C 21/00 (2006.01); B60W 30/10 (2006.01); G05D 1/02 (2020.01)
CPC B62D 15/025 (2013.01) [B60W 30/10 (2013.01); G01C 21/00 (2013.01); G05D 1/0217 (2013.01); G05D 2201/0201 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An agricultural vehicle guidance system, comprising:
a control system comprising a processor configured to receive a first signal indicative of a current position and a current heading of an agricultural vehicle, and a second signal indicative of a target path of the agricultural vehicle, wherein the processor is configured to determine a virtual path extending from the current position to a target position on the target path, wherein an initial heading of the virtual path extends along the current heading, and a terminal heading of the virtual path extends tangentially to the target path at the target position;
wherein the processor is configured to output a third signal indicative of a curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the agricultural vehicle to adjust a steering angle of the agricultural vehicle;
wherein the processor is subsequently configured to iteratively receive an updated current position and an updated current heading of the agricultural vehicle during travel of the vehicle towards the target path, determine an updated target position on the target path, determine an updated virtual path that extends from the updated current position to the updated target position, wherein an updated initial heading of the updated virtual path extends along the updated current heading, and an updated terminal heading of the updated virtual path extends tangentially to the target path at the updated target position; and
wherein the processor is configured to output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the agricultural vehicle travels toward the target path;
wherein a driven travel path of the agricultural vehicle to the target path is based on the initial curvature of the virtual path and the initial curvature of the updated virtual path, wherein the travel plan is formed by a plurality of the iteratively updated initial curvatures.