CPC G05D 1/0212 (2013.01) [B62D 6/002 (2013.01)] | 19 Claims |
1. A device for steering an agricultural machine having independently steerable axles, the device comprising:
a first steerable axle interface configured for electronic coupling with a first steering mechanism of a first steerable axle coupled with one or more first ground engaging elements;
a second steerable axle interface configured for electronic coupling with a second steering mechanism of a second steerable axle coupled with one or more second ground engaging elements; and
one or more processors configured to:
include at least one guidance path for the agricultural machine;
coordinate steering of at least the first and second steering mechanisms;
determine a translational difference between a location of the agricultural machine relative to the at least one guidance path;
determine an angular difference between an angular orientation of the agricultural machine relative to the at least one guidance path;
determine a rotational contribution based on the angular difference;
distribute a first portion of the rotational contribution to the first steering mechanism and distribute a second remainder portion of the rotational contribution to the second steering mechanism each according to a rotational weight, wherein the first portion of the rotational contribution is proportional to the rotational weight, and the second remainder portion of the rotational contribution is inversely proportional to the rotational weight;
actuate the first and second steering mechanisms according to the determined translational difference to change steering angles of the one or more first and second ground engaging elements; and
actuate one or both of the first or second steering mechanisms according to the respective first and second remainder portions of the rotational contribution to change the steering angle of one or more of the first or second ground engaging elements, in combination with the actuation of the first and second steering mechanism according to the determined translational difference.
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