Method and control system for limiting vehicle turning radius
The turning radius of a differentially steered vehicle towing a trailer is controlled when turning so that its turning radius is greater than a minimum allowable turning radius. The turning radius may be autonomously adjusted using a controller to monitor the instantaneous rotational speed differential between the driven wheels and increase or decrease the relative speed between the wheels when the instantaneous rotational speed differential exceeds a threshold rotational speed differential, indicating a turn which is too tight. Alternately, the turning radius may be controlled by the vehicle's operator, who receives a signal from the controller indicating that the vehicle's turning radius is less than the minimum allowable. The operator may then take action to enlarge the turning radius using manual controls.
1. A method of limiting a turning radius of a differentially steered vehicle when towing a trailer, said vehicle having a left wheel and a right wheel being rotatable at different speeds from one another to effect turning of said vehicle, said method comprising:
measuring a rotational speed of said left wheel;
measuring a rotational speed of said right wheel;
comparing said rotational speed of said left wheel with said rotational speed of said right wheel to establish an instantaneous rotational speed differential between said left wheel and said right wheel; and
comparing said instantaneous rotational speed differential with a threshold rotational speed differential, the threshold rotational speed differential being set by a minimum allowable turning radius of the vehicle when the vehicle is towing the trailer, the threshold rotational speed differential ensuring that the turning radius of the vehicle is greater than or equal to the minimum allowable turning radius, wherein if said instantaneous rotational speed differential exceeds said threshold rotational speed differential:
increasing said rotational speed of a slower rotating one of said left wheel and said right wheel; or
decreasing said rotational speed of a faster rotating one of said left wheel and said right wheel; or
increasing said rotational speed of said slower rotating one of said left wheel and said right wheel while decreasing said rotational speed of said faster rotating one of said left wheel and said right wheel.
2. The method according to claim 1 , further comprising sensing that said trailer is coupled to said vehicle, the sensing step invoking the method.
3. The method according to claim 1 , further comprising:
comparing said instantaneous rotational speed differential with said threshold speed differential at a plurality of discrete time intervals; and
increasing said rotational speed of said slower rotating one of said left wheel and said right wheel unless said instantaneous rotational speed differential is equal to or less than said threshold speed differential.
4. The method according to claim 1 , further comprising:
comparing said instantaneous rotational speed differential with said threshold speed differential at a plurality of discrete time intervals; and
decreasing said rotational speed of said faster rotating one of said left wheel and said right wheel unless said instantaneous rotational speed differential is equal to or less than said threshold speed differential.
5. The method according to claim 1 , further comprising:
comparing said instantaneous rotational speed differential with said threshold speed differential at a plurality of discrete time intervals; and
increasing said rotational speed of said slower rotating one of said left wheel and said right wheel while decreasing said rotational speed of said faster rotating one of said left wheel and said right wheel unless said instantaneous rotational speed differential is equal to or less than said threshold speed differential.
6. The method according to claim 1 , further comprising establishing a threshold rotational speed differential based upon a parameter selected from the group consisting of a minimum allowable turning radius, a minimum allowable angle between a direction of motion of said vehicle and a direction of motion of said trailer, a minimum allowable angle between said vehicle and a tongue of said trailer, a wheel base of said vehicle, a wheel base of said trailer, a model of said vehicle, a model of said trailer, and combinations thereof.
7. A control system for steering a vehicle having at least a left wheel and a right wheel being rotatable at different speeds from one another to effect turning of said vehicle, said control system comprising:
a controller;
a left wheel rotational speed sensor in communication with said controller, said left wheel speed sensor for measuring a rotational speed of said left wheel and sending signals indicative of said rotational speed of said left wheel to said controller;
a right wheel rotational speed sensor in communication with said controller, said right wheel speed sensor for measuring a rotational speed of said right wheel and sending signals indicative of said rotational speed of said right wheel to said controller;
a left wheel actuator in communication with said controller for adjusting said rotational speed of said left wheel; and
a right wheel actuator in communication with said controller for adjusting said rotational speed of said right wheel; wherein said controller is adapted to:
receive said signals indicative of said left and said right wheel rotational speeds;
compare said left and right wheel rotational speeds with one another to establish an instantaneous rotational speed differential between said left wheel and said right wheel; and
adjust said rotational speeds of said left and right wheels using said left and right wheel actuators and reduce said instantaneous rotational speed differential to a value less than or equal to a threshold value pursuant to a control method executed by said controller, the threshold value being set by a minimum allowable turning radius of the vehicle, the threshold value ensuring that the turning radius of the vehicle is greater than or equal to the minimum allowable turning radius.
8. The control system according to claim 7 , further comprising a trailer sensor in communication with said controller, said trailer sensor adapted to generate signals indicative of said trailer being coupled to said vehicle, said controller being adapted to receive said signals indicative of said trailer being coupled to said vehicle.
9. The control system according to claim 7 for use with said vehicle wherein torque is applied to said left wheel by a left hydraulic pump having a left swashplate, torque is applied to said right wheel by a right hydraulic pump having a right swashplate, wherein:
said left wheel actuator comprises a left swashplate actuator in communication with said controller for adjusting a left swashplate angle of said left swashplate; and
said right wheel actuator comprises a right swashplate actuator in communication with said controller for adjusting a right swashplate angle of said right swashplate, wherein said controller is adapted to adjust said left and right swashplate angles using said left and right swashplate actuators to reduce said instantaneous rotational speed differential to a value less than or equal to the threshold value pursuant to a control method executed by said controller.
10. A differentially steered vehicle, said vehicle comprising:
a chassis having an engine and a plurality of wheels mounted thereon including a left wheel and a right wheel disposed on opposite sides of said vehicle;
a left hydraulic motor operatively associated with said left wheel;
a right hydraulic motor operatively associated with said right wheel;
a left hydraulic pump driven by said engine, said left hydraulic pump operatively associated with said left hydraulic motor and having a left swashplate;
a right hydraulic pump driven by said engine, said right hydraulic pump operatively associated with said right hydraulic motor and having a right swashplate;
a controller;
a left wheel rotational speed sensor in communication with said controller, said left wheel speed sensor for measuring a rotational speed of said left wheel and sending signals indicative of said rotational speed of said left wheel to said controller;
a right wheel rotational speed sensor in communication with said controller, said right wheel speed sensor for measuring a rotational speed of said right wheel and sending signals indicative of said rotational speed of said right wheel to said controller;
a left swashplate actuator in communication with said controller for adjusting a left swashplate angle of said left swashplate; and
a right swashplate actuator in communication with said controller for adjusting a right swashplate angle of said right swashplate; wherein said controller is adapted to:
receive said signals indicative of said left and said right wheel rotational speeds;
compare said left and right wheel rotational speeds with one another to establish an instantaneous rotational speed differential between said left wheel and said right wheel; and
adjust said rotational speeds of said left and right wheels using said left and right wheel actuators and reduce said instantaneous rotational speed differential to a value less than or equal to a threshold value pursuant to a control method executed by said controller, the threshold value being set by a minimum allowable turning radius of the vehicle, the threshold value ensuring that the turning radius of the vehicle is greater than or equal to the minimum allowable turning radius.
11. The vehicle according to claim 10 , wherein said vehicle comprises a tractor.
12. The vehicle according to claim 10 , wherein said vehicle comprises a harvester.