US 12,071,742 B2
System and method for automatically guiding a motor grader within a worksite
Alessandro Benevelli, Reggio Nell'Emilia (IT); Alessio Aresta, Brindisi Mesagne (IT); and Scott A. Elkins, Homer Glen, IL (US)
Assigned to CNH Industrial America LLC, New Holland, PA (US)
Filed by CNH Industrial America LLC, New Holland, PA (US)
Filed on Oct. 6, 2021, as Appl. No. 17/495,326.
Prior Publication US 2023/0105281 A1, Apr. 6, 2023
Int. Cl. E02F 3/84 (2006.01); E02F 9/20 (2006.01); E02F 9/26 (2006.01)
CPC E02F 3/842 (2013.01) [E02F 3/844 (2013.01); E02F 9/205 (2013.01); E02F 9/2087 (2013.01); E02F 9/262 (2013.01); E02F 9/265 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for automatically guiding a motor grader within a worksite, the method comprising:
receiving, with a computing system, a desired final grade for the worksite;
generating, with the computing system, a steering path for steering the motor grader across the worksite and moldboard control instructions for actuating a moldboard of the motor grader as the motor grader moves across the worksite based at least in part on the desired final grade, at least one steering performance metric of a steering system of the motor grader, and at least one moldboard performance metric of a moldboard system of the motor grader;
receiving, with the computing system, an input indicative of a ground speed of the motor grader;
controlling, with the computing system, the steering system according to the steering path and the moldboard system according to the moldboard control instructions when the ground speed of the motor grader is within a threshold speed range for the steering path and the moldboard control instructions;
generating, with the computing system, an updated steering path for steering the motor grader and updated moldboard control instructions for actuating the moldboard as the motor grader moves across the worksite based at least in part on the ground speed, the desired final grade, the at least one steering performance metric, and the at least one moldboard performance metric when the ground speed of the motor grader is outside the threshold speed range; and
controlling, with the computing system, the steering system according to the updated steering path and the moldboard system according to the updated moldboard control instructions.