| CPC E02F 9/2045 (2013.01) [E02F 9/2029 (2013.01); E02F 9/2037 (2013.01); E02F 9/26 (2013.01); E02F 3/841 (2013.01); E02F 3/844 (2013.01)] | 20 Claims |
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1. A system for reverting an actual heading of a mobile construction equipment subject to load from one or more work implements to a desired heading, the mobile construction equipment having a front frame articulatable with respect to a rear frame, the front frame including a steering apparatus, the system comprising:
a rear inertial motion unit disposed on the rear frame, the rear inertial motion unit being configured to provide an actual rear frame yaw rate;
a steering sensor configured to provide an actual steering angle of the steering apparatus;
an articulation sensor configured to provide an actual articulation angle between the front frame and the rear frame; and
a controller configured to:
receive the actual rear frame yaw rate, the actual steering angle, and the actual articulation angle to determine the actual heading,
receive a steering control indicating a desired steering angle of the steering apparatus and an articulation control indicating a desired articulation angle between the front frame and the rear frame,
determine, based on the desired steering angle and the desired articulation angle, a desired rear frame yaw rate,
determine the desired heading based on the desired steering angle, the desired articulation angle, and the desired rear frame yaw rate,
determine a heading difference between the actual heading and the desired heading, and
based on the heading difference exceeding a threshold, at least one of: adjust the steering control, adjust the articulation control, perform removal of load from the mobile construction equipment, or provide an indication to an operator of the mobile construction equipment.
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