Deere + Company

Carnegie Mellon University

Alex J Nykamp

Herman Herman

Zachary Thomas Bonefas

Joshua T Lawson

Jose Gonzalez-Mora

Jean-Philippe Tardif

Matt Levine

Andrew T Jennett

A system and method of determining an acquisition guidance path of a vehicle includes defining a desired guidance path for travel by the vehicle, determining a first acquisition factor of the acquisition guidance path between the vehicle and the desired guidance path, determining a second acquisition factor defining a ratio between a heading error and a lateral error of the acquisition guidance path, and calculating the acquisition guidance path based on the first acquisition factor and the second acquisition factor to control travel of the vehicle to the desired guidance path.

Method of determining an acquisition guidance path for a vehicle and an acquisition guidance path system for a vehicle

In an example embodiment, a vehicle control system includes a memory including computer-readable instructions stored therein and a processor. The processor configured to execute the computer-readable instructions to receive information corresponding to, a yaw rate of a vehicle, a lateral position of the vehicle and a heading angle of the vehicle, determine a stability indicator indicating an estimate of a stability of the vehicle based on the received information, and adjust one or more gains of a steering system of the vehicle based on the determined stability indicator.

Methods and apparatuses for disturbance and stability detection by vehicle guidance systems

In an example embodiment, a vehicle guidance system includes a memory including computer-readable instructions stored therein and a processor. The processor is configured to execute the computer-readable instructions to estimate a wheel angle of a vehicle based on at least a first value, the first value being a hand wheel based estimate of the wheel angle, and adjust steering commands for steering the vehicle based on the estimated wheel angle to permit the vehicle to move along a set path.

Methods and apparatuses for determining estimates of a vehicle's wheel angle and the vehicle's steering ratio

A spout identification module is adapted to identify a spout (e.g., or an associated spout position) of the harvesting vehicle in the collected image data. A relative motion detector detects the relative motion of a receiving vehicle and the harvesting vehicle or detects the relative motion between the spout and a container of the receiving vehicle. An alignment module is adapted to determine the relative position of the spout and the cells in the container via processing of the image data such that the spout is aligned with the longitudinal axis or a lateral offset from the longitudinal axis based on the detected relative motion and where a longitudinal size of the deadband volume is adjusted based on the relative motion.

Method and stereo vision system for managing the unloading of an agricultural material from a vehicle

An alignment module is adapted to determine the relative position of the spout and the cells in the container via processing of image data such that the spout is aligned within a target fill zone of the cells in accordance with a fill sequence or fill plan instructions in which (a) first, the alignment module is adapted to direct the spout to fill the container with the material in a first mode to a first target level that is less than a peak height of the container; (b) second, the fill level estimator is adapted to estimate the number of cells that are below the first target level after directing the spout to fill in the first mode; and (c) third, the alignment module is adapted to direct the spout to fill the container in a second mode to a second target level that is greater than the first target level if less than a threshold number of cells are below the first target level, where the second mode is generally opposite in direction to the relative spout-container movement of the first mode.

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Edgerton, MN, United States of America

Alex J Nykamp