Method and system for planning the path of an agricultural vehicle

Abstract

A method and system for planning a path for an agricultural vehicle is disclosed. The agricultural vehicle includes a steering mechanism configured to automatically steer the agricultural vehicle. The method includes accessing a recorded path plan, the recorded path plan including navigation data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system. The method also includes determining a first point on a first planned path accessed from the recorded path plan, determining a second point on a second planned path accessed from the recorded path plan, generating a connection path plan connecting the first point and the second point, generating a steering command based on the connection path plan, and providing the steering command to the steering mechanism to cause the agricultural vehicle to travel according to the connection path plan.

1 . A method for planning a path for an agricultural vehicle comprising a steering mechanism configured to automatically steer the agricultural vehicle, the method comprising:
 accessing a recorded path plan, the recorded path plan comprising navigation data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system;   determining a first point on a first planned path accessed from the recorded path plan;   determining a second point on a second planned path accessed from the recorded path plan;   generating a connection path plan connecting the first point and the second point;   generating a steering command based on the connection path plan; and   providing the steering command to the steering mechanism to cause the agricultural vehicle to travel according to the connection path plan.   
     
     
         2 . The method as recited in  claim 1  further comprising:
 assigning a sequence to the first planned path and the second planned path; and 
 selecting a path shape for connecting the first point and the second point in the connection path plan. 
 
     
     
         3 . The method as recited in  claim 1  wherein generating the connection path plan comprises selecting a path shape for connecting the first point and the second point from the group consisting of a semi-circle and a keyhole. 
     
     
         4 . The method as recited in  claim 1  further comprising:
 determining a first geographic position of the first point and a second geographic position of the second point using the position determining system. 
 
     
     
         5 . The method as recited in  claim 4 , wherein:
 the position determining system is selected from the group consisting of a Global Navigation Satellite System (GNSS) and a terrestrial-based position determining system.   
     
     
         6 . The method as recited in  claim 4  further comprising displaying a deviation from the connection path plan on a display device. 
     
     
         7 . The method as recited in  claim 1  wherein the navigation data comprises roll, pitch, and yaw data. 
     
     
         8 . A system for planning a path for an agricultural vehicle, the system comprising:
 an accessor configured for accessing a recorded path plan, the recorded path plan comprising navigation data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system;   a steering controller communicatively coupled to a steering mechanism configured to automatically steer the agricultural vehicle; and   a guidance system configured for generating a connection path plan connecting a first point on a first planned path accessed from the recorded path plan and a second point on a second planned path accessed from the recorded path plan using the navigation data, wherein the steering controller is configured to generate a steering command based on the connection path plan and to output the steering command to the steering mechanism to cause the agricultural vehicle to travel according to the connection path plan.   
     
     
         9 . The system of  claim 8  wherein the guidance system is further configured for assigning a sequence to the first planned path and the second planned path and for selecting a path shape for connecting the first planned path and the second planned path in the connection path plan. 
     
     
         10 . The system of  claim 9  wherein the guidance system selects the path shape from the group consisting of a semi-circle and a keyhole. 
     
     
         11 . The system of  claim 8  wherein the position determining system is configured to determine a first geographic position of the first point and a second geographic position of the second point. 
     
     
         12 . The system of  claim 8  wherein the position determining system is selected from the group consisting of a Global Navigation Satellite System (GNSS) and a terrestrial-based position determining system. 
     
     
         13 . The system of  claim 8  wherein the navigation data comprises roll, pitch, and yaw data. 
     
     
         14 . The system of  claim 8  further comprising a display device coupled with the guidance system configured to display a deviation of the agricultural vehicle from the connection path plan. 
     
     
         15 . A control component for an agricultural vehicle, the control component comprising:
 an accessor configured for accessing a recorded path plan which includes at least a first planned path and a second planned path, the recorded path plan comprising navigation data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system;   an output communicatively couplable to a steering controller configured to control a steering mechanism configured to steer the agricultural vehicle;   an input communicatively couplable to the position determining system configured to determine a first geographic position corresponding to a first point on the first planned path and a second geographic position corresponding to a second point on the second planned path; and   a path plan generator configured for generating a connection path plan connecting the first geographic position and the second geographic position using the navigation data,   wherein the steering controller is configured to control the steering mechanism to cause the agricultural vehicle to travel according to the connection path plan.   
     
     
         16 . The control component of  claim 15  wherein the path plan generator is further configured to assign a sequence to the first planned path and the second planned path and to select a path shape for connecting the first geographic position and the second geographic position in the connection path plan. 
     
     
         17 . The control component of  claim 16  wherein the path plan generator is configured to select the path shape from the group consisting of a semi-circle and a keyhole. 
     
     
         18 . The control component of  claim 15  further comprising a display output communicatively couplable to a display device configured to display a deviation of the agricultural vehicle from the connection path plan. 
     
     
         19 . The control component of  claim 15  wherein the position determining system is selected from the group consisting of a Global Navigation Satellite System (GNSS) and a terrestrial-based position determining system. 
     
     
         20 . The control component of  claim 15  wherein the navigation data comprises roll, pitch, and yaw data.