Implement guidance
View Patent ↗Efficient towed implement guidance to a desired path is achieved by guiding a towing vehicle toward a path on the opposite side of a desired path, then guiding the vehicle back to the desired path. Efficient forward implement guidance to a desired path is achieved by guiding a pushing vehicle along a tractrix. A vehicle leaves a straight line along a tractrix to keep a rear implement on the line as long as possible.
1. A method for guiding a towed implement to a desired path comprising:
an autopilot guiding a vehicle towing the implement;
the autopilot first guiding the vehicle across the desired path by an offset distance that is pre-determined for the vehicle and implement; and,
the autopilot then guiding the vehicle back to the desired path.
2. The method of claim 1 , the offset distance being stored in a memory accessible to the autopilot.
3. The method of claim 1 further comprising:
the autopilot estimating the offset distance from implement behavior predicted by an implement model.
4. The method of claim 1 , the offset distance being approximately 30% of implement length.
5. The method of claim 1 , the vehicle and implement arriving at the desired path at the same time.
6. The method of claim 1 , the autopilot guiding the vehicle toward an offset path, the offset path separated from the desired path by the offset distance.
7. The method of claim 6 , the vehicle reaching the offset path at a point.
8. The method of claim 6 , the vehicle staying on the offset path for a finite distance.
9. The method of claim 1 , the implement never exceeding a specified maximum angle with respect to the vehicle.
10. The method of claim 1 , the implement never exceeding a specified maximum curvature.
11. The method of claim 1 , the implement never exceeding a specified maximum curvature rate.
12. The method of claim 1 , the autopilot being a feedback autopilot.
13. The method of claim 12 the autopilot minimizing cross-track error.
14. The method of claim 13 the offset distance added to the cross-track error before the vehicle crosses the desired path.
15. The method of claim 1 , the autopilot being a path-planning autopilot.
16. The method of claim 15 further comprising:
the autopilot planning a vehicle path to the desired path;
the autopilot estimating predicted implement displacement from the desired path at a point where the vehicle reaches the desired path; and,
the autopilot guiding the vehicle along a displaced vehicle path, the displaced vehicle path displaced from the desired path by the predicted implement displacement.
17. The method of claim 15 further comprising:
the autopilot planning a first vehicle path to an offset path, the offset path separated from the desired path by the offset distance, and first guiding the vehicle along the first vehicle path.
18. The method of claim 17 , the first vehicle path having a non-zero curvature at the offset path, the curvature being determined in part by the offset distance.
19. The method of claim 17 further comprising:
the autopilot planning a second vehicle path from the offset path to the desired path and then guiding the vehicle along the second path.
20. The method of claim 19 , the second vehicle path having zero curvature at the desired path.
21. The method of claim 17 further comprising:
the autopilot then guiding the vehicle back to the desired path using feedback.
22. The method of claim 17 further comprising:
the autopilot adjusting all paths uphill to compensate for sloping terrain.
23. A vehicle autopilot comprising:
a microprocessor and memory;
a GNSS receiver that provides vehicle position, velocity and time estimates to the microprocessor;
a feedback controller and a feed-forward controller that generate vehicle curvature commands to guide the vehicle; and,
a vehicle steering actuator; wherein,
the autopilot guides the vehicle while the vehicle tows an implement;
the autopilot programmed to first guide the vehicle across a desired path by an offset distance that is pre-determined for the vehicle and implement; and,
the autopilot programmed to then guide the vehicle back to the desired path.
24. The autopilot of claim 23 further comprising:
the autopilot programmed to estimate the offset distance from implement behavior predicted by an implement model.
25. The autopilot of claim 23 , the offset distance being approximately 30% of implement length.
26. The autopilot of claim 23 , the vehicle and implement arriving at the desired path at the same time.