Abstract: A method for autonomously controlling a feed mixing vehicle, a vehicle having an autonomous controller, a computer program for carrying out the method, and a corresponding control device. The vehicle has a chassis, working elements for carrying out partial tasks, scanners and/or sensors for transmitting data, and at least one computer for controlling all the processes. The scanner/sensor acquires spatial data of the surroundings and generates therefrom a 3D map of the current geometry of the surroundings. The current geometry of the surroundings is placed in relationship with an area that is basically released to be traveled on by the autonomous vehicle, with the result that the navigability of the travel path of the autonomous vehicle can be checked, and in the case of detected non-navigability the travel path can be adapted autonomously to the requirements of the situational spatial surroundings and can be replaced by an alternative travel path.

Abstract: A cutting machine for extraction of silage from flat silos includes a frame which has an underside of straight, L-shaped or U-shaped configuration for supporting a cutter assembly, and is swingably guided upwardly and downwardly by rockers or vertical guides. At least one vibrator is secured to the frame for oscillatingly driving the cutting machine.