Abstract: A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface, and automatically steer the vehicle based on the user input signals.

Abstract: A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.

Abstract: A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface located on the enclosure and automatically steer the vehicle based on the user input signals.

Abstract: A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.

Abstract: A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.

Abstract: Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

Abstract: Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

Abstract: Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

Abstract: A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.

Abstract: A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.

Abstract: Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

Abstract: A guidance system identifies a parking path and a target point in a parking area. The guidance system calculates steering commands to steer the vehicle and trailer onto the parking path. The guidance system calculates a distance of the trailer from the target point and calculates speed commands for the vehicle based on the distance of the trailer from the target point. The guidance system sends the steering and speed commands to a steering and speed control system to steer the vehicle and move the trailer along the parking path until the trailer reaches the target point in the parking area.

Abstract: A calibration system calibrates inertial sensor readings on a vehicle. The calibration system estimates an attitude of the ground from a series of height and position measurements and reads an attitude from an inertial sensor subsystem attached to the vehicle. The calibration system then calculates an attitude offset between the vehicle and inertial sensor subsystem based on a difference between the estimated attitude of the ground and the attitude reading of the inertial sensor subsystem. The calibration system may estimate a slope of the ground from a 3-dimensional terrain map. The slope of the ground is converted into an estimated roll and/or pitch of the vehicle which is then compared with the roll and pitch readings from the inertial sensor subsystem to determine the attitude offset.

Abstract: A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.

Abstract: Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

Abstract: An integrated computing system computes a geo-location of a vehicle based on location data generated by a GNSS receiver, operates one or more external communication interfaces, calculates a desired path for steering the vehicle based on the geo-location, and communicates the desired path to one or more external operating units via the one or more external communication interfaces. The integrated computing system may include one or more computer processing units programmed to provide shared coordinated execution of software functions that are all implemented and located within a same integrated circuit or enclosure. The integrated computing system lowers the overall cost and complexity of agricultural guidance systems by reducing and simplifying the number of chassis, boxes, connectors, power supplies, and manufacturing processes.

Abstract: Cost of a precision farming guidance system is driven in part by the number of discrete system elements installed in a tractor including the steering actuator, guidance computer, user terminals, and the associated cable harnesses. An integrated guidance system arranges and integrates these separate elements into a base chassis and removable computer module to reduce cost and complexity while retaining flexibility to adapt to different vehicle configurations and to incorporate improved guidance computer technology into a common design platform.

Abstract: A method for estimation of relative coordinates between two parts of a linked vehicle system. The system includes a towing vehicle and a towed implement or trailer. A first sensor is configured to measure the movement rate of the towing vehicle while a second sensor is configured to measure the movement rate of the towed implement. Both sensors interact with each other to measure the absolute distance between sensors. Using the known linkage geometry, relative distance between the sensors and relative rotation rates, the relative coordinates between the towing vehicle and towed implement can be estimated.

Abstract: Some embodiments may include a control system configured to monitor an online queue associated with a remote server for the presence of updated control software content; in the case of the presence of updated control software content in the online queue, provide data based thereon in an offline queue, wherein a portable computing device includes a storage for the offline queue; waiting for a time period in which a wired communication interface of the portable computing device is attached to a wired interface of the vehicle or a wireless communication interface of the vehicle is in range of a wireless communication interface of the portable computing device; and in the time period, transferring contents of the offline queue to the vehicle, wherein a processor of the vehicle distributes update(s) included in the contents to one or more of the GNSS receiver, the actuator assembly, and the steering control module.

Abstract: A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed. The spatial data provided from the spatial database to the controller includes images collected from an optical sensor subsystem in addition to other data collected by a variety of sensor types, including a GNSS or inertial measurement system. The spatial data received by the controller from the database forms at least part of the control inputs that the controller operates on to control the vehicle. The advantage provided by the present invention allows control system to “think” directly in terms of spatial location. A vehicle control system in accordance with one particular embodiment of the invention comprises a task path generator, a spatial database, at least one external spatial data receiver, a vehicle attitude compensation module, a position error generator, a controller, and actuators to control the vehicle.