US 12,108,696 B2
Agricultural system and method for determining an as-driven path of an agricultural work vehicle
Phillip Duane Dix, Westmont, IL (US); Daniel Geiyer, Oshkosh, WI (US); Aditya Singh, Bolingbrook, IL (US); and Navneet Gulati, Naperville, IL (US)
Filed by CNH Industrial America LLC, New Holland, PA (US)
Filed on Dec. 23, 2021, as Appl. No. 17/560,887.
Prior Publication US 2023/0200281 A1, Jun. 29, 2023
Int. Cl. A01B 69/04 (2006.01); B60K 35/00 (2006.01); B62D 15/02 (2006.01); G01C 21/16 (2006.01); B60K 35/28 (2024.01)
CPC A01B 69/008 (2013.01) [B60K 35/00 (2013.01); B62D 15/021 (2013.01); B62D 15/025 (2013.01); G01C 21/16 (2013.01); B60K 35/28 (2024.01); B60K 2360/166 (2024.01)] 17 Claims
OG exemplary drawing
 
1. A method for determining an as-driven path of an agricultural work vehicle, the method comprising:
receiving, with a computing system, position data generated by a position sensor indicative of a position of the agricultural work vehicle in a field during a first pass of the agricultural work vehicle in the field;
receiving, with the computing system, inertial movement data generated by an inertial measurement unit (IMU) supported on the agricultural work vehicle during the first pass;
receiving, with the computing system, operational data indicative of at least one of a steering angle of a wheel of the agricultural work vehicle, a wheel speed of the wheel of the agricultural work vehicle, or a transmission speed of the agricultural work vehicle during the first pass;
generating, with the computing system, an as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data, wherein generating the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data, the inertial movement data, and the operational data comprises:
determining, with the computing system, slip of the agricultural work vehicle during the first pass based at least in part on the inertial movement data and the operational data; and
generating, with the computing system, the as-driven path of the agricultural work vehicle during the first pass based at least in part on the position data and the slip of the agricultural work vehicle; and
performing, with the computing system, a control action based at least in part on the as-driven path of the agricultural work vehicle.