US 12,102,024 B2
Determining vehicle heading and implement heading of low speed farming machine
Steven R. Procuniar, Urbandale, IA (US); Qiang R. Liu, Urbandale, IA (US); and Curtis A. Maeder, Johnston, IA (US)
Assigned to DEERE & COMPANY, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Nov. 29, 2021, as Appl. No. 17/536,543.
Application 17/536,543 is a continuation of application No. PCT/US2021/039004, filed on Jun. 24, 2021.
Prior Publication US 2022/0408627 A1, Dec. 29, 2022
Int. Cl. A01B 69/00 (2006.01); G05D 1/00 (2024.01); G06N 20/00 (2019.01); G06V 10/25 (2022.01); G06V 20/56 (2022.01)
CPC A01B 69/001 (2013.01) [A01B 69/004 (2013.01); G05D 1/0246 (2013.01); G06N 20/00 (2019.01); G06V 10/25 (2022.01); G06V 20/56 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving a first set of coordinates from a first location sensor coupled to a vehicle at a first point;
receiving a second set of coordinates from a second location sensor coupled to an implement at a second point, wherein the implement is coupled to the vehicle at a pivot point and configured to move about the pivot point;
identifying one or more intersection points between a first circle centered at the first point and a second circle centered at the second point, the first circle having a first radius corresponding to a distance between the first point and the pivot point and the second circle having a second radius corresponding to a distance between the second point and the pivot point;
selecting one intersection point from the one or more intersection points based on a relative angle between the vehicle and the implement;
responsive to determining that the vehicle is moving at a speed below a threshold speed, determining a first heading associated with the vehicle and a second heading associated with the implement based on the selected intersection point;
responsive to determining that the vehicle is moving at or above the threshold speed, determining the first heading associated with the vehicle and the second heading associated with the implement without considering the selected intersection point; and
configuring the vehicle to drive a path autonomously based on the first heading and the second heading, the vehicle being an autonomous vehicle that drives the path without human input.