Systems, methods and non-transitory computer-readable media for vehicle navigation using path following based on control guide point

1 . A system on a vehicle, the system comprising:

a receiver of a positioning system, the receiver being configured to obtain a current geographical position of the receiver, the receiver being at a first location on the vehicle; and

processing circuitry configured to

determine a current geographical position of a control on the current geographical position of the receiver, the first location and a second location on the vehicle, the control guide point being at the second location which is different from the first location, and

cause the system to control the vehicle to follow a path based on the current geographical position of the control guide point.

2 . The system of claim 1 , wherein the processing circuitry is configured to cause the system to receive the control guide point from an operator.

3 . The system of claim 1 , wherein the processing circuitry is configured to cause the system to control the vehicle to follow the path by determining a steering angle based on the current geographical position of the control guide point.

4 . The system of claim 3 , wherein the processing circuitry is configured to cause the system to determine the steering angle based on at least one of:

a curve in the path; or

a lateral error from the path.

5 . The system of claim 4 , further comprising:

a steering actuator configured to mechanically move a support structure of the vehicle,

wherein the processing circuitry is configured to cause the system to control the steering actuator to mechanically move the support structure based on the steering angle.

6 . The system of claim 1 , wherein the processing circuitry is configured to cause the system to determine the control guide point based on an implement attached to the vehicle.

7 . The system of claim 1 , wherein the control guide point is one of:

a point on a front implement attached to the vehicle;

a point on a front axle of the vehicle;

a point at a center of the vehicle;

a point on a rear axle of the vehicle;

a point on a rear implement attached to the vehicle; or

a point on a cab of the vehicle.

8 . A method, comprising:

determining a current geographical position of a control guide point based on a current geographical position of a receiver of a positioning system, a first location on a vehicle and a second location on the vehicle, the receiver being at the first location, the control guide point being at the second location, and the second location being different from the first location; and

controlling the vehicle to follow a path based on the current geographical position of the control guide point.

9 . The method of claim 8 , further comprising:

receiving the control guide point from an operator.

10 . The method of claim 8 , wherein the controlling comprises determining a steering angle based on the current geographical position of the control guide point.

11 . The method of claim 10 , wherein the determining the steering angle comprises determining the steering angle based on at least one of:

a curve in the path; or

a lateral error from the path.

12 . The method of claim 11 , wherein the controlling comprises controlling a steering actuator to mechanically move a support structure of the vehicle based on the steering angle.

13 . The method of claim 8 , further comprising:

determining the control guide point based on an implement attached to the vehicle.

14 . The method of claim 8 , wherein the control guide point is one of:

a point on a front implement attached to the vehicle;

a point on a front axle of the vehicle;

a point at a center of the vehicle;

a point on a rear axle of the vehicle;

a point on a rear implement attached to the vehicle; or

a point on a cab of the vehicle.

15 . A non-transitory computer-readable medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method, the method comprising:

determining a current geographical position of a control guide point based on a current geographical position of a receiver of a positioning system, a first location on a vehicle and a second location on the vehicle, the receiver being at the first location, the control guide point being at the second location, the second location being different from the first location; and

controlling the vehicle to follow a path based on the current geographical position of the control guide point.

16 . The non-transitory computer-readable medium of claim 15 , wherein the method further comprises receiving the control guide point from an operator.

17 . The non-transitory computer-readable medium of claim 15 , wherein the controlling comprises determining a steering angle based on the current geographical position of the control guide point.

18 . The non-transitory computer-readable medium of claim 17 , wherein the determining the steering angle comprises determining the steering angle based on at least one of:

a curve in the path; or

a lateral error from the path.

19 . The non-transitory computer-readable medium of claim 18 , wherein the controlling comprises controlling a steering actuator to mechanically move a support structure of the vehicle based on the steering angle.

20 . The non-transitory computer-readable medium of claim 15 , wherein the control guide point is one of:

a point on a front implement attached to the vehicle;

a point on a front axle of the vehicle;

a point at a center of the vehicle;

a point on a rear axle of the vehicle;

a point on a rear implement attached to the vehicle; or

a point on a cab of the vehicle.