Procedure for operating an agricultural vehicle and agricultural vehicle

Abstract

The invention relates to a method for operating an agricultural vehicle comprising an internal combustion engine, an exhaust aftertreatment system, and a control device, wherein the internal combustion engine generates exhaust gases by burning a fuel, the exhaust aftertreatment system treats the exhaust gases, and the control device controls the regeneration of the exhaust aftertreatment system, wherein an environmental variable is detected by means of a sensor and the regeneration is controlled depending on the environmental variable and / or on at least one parameter of an agricultural process that the vehicle automatically performs. The invention further relates to an agricultural vehicle equipped to carry out such a method.

Description

[0001] The present invention relates to a method for operating an agricultural vehicle comprising an internal combustion engine, an exhaust aftertreatment system, and a control device. The internal combustion engine generates exhaust gases through the combustion of a fuel. The exhaust aftertreatment system treats the exhaust gases. The control device controls the regeneration of the exhaust aftertreatment system. The invention further relates to such an agricultural vehicle.

[0002] Agricultural vehicles, i.e., agricultural machinery, still primarily use internal combustion engines to provide power for the agricultural processes they perform. To comply with emission limits mandated by law in many countries, exhaust gases from these combustion engines must be treated using exhaust aftertreatment systems.

[0003] Known exhaust aftertreatment systems require regular regeneration, depending on the extent of the exhaust aftertreatment. In known commercial vehicles, regeneration is carried out immediately upon detection of a need for regeneration. It is known that an operator must acknowledge the start of the regeneration process.

[0004] It has become apparent that regeneration involves risks and limitations with regard to agricultural processes. For example, increased exhaust gas temperatures occur during regeneration, which is associated with an increased risk of fire. Furthermore, agricultural processes often have to be interrupted at unsuitable points and can only be resumed after regeneration with considerable effort.

[0005] The object of the invention is to reduce the risks and limitations associated with regeneration.

[0006] The problem is solved by a method with the features of claim 1, a method with the features of claim 8, and by an agricultural vehicle with the features of claim 13.

[0007] The first method according to the invention is characterized in that an environmental variable is determined by means of a sensor and the regeneration is controlled depending on the environmental variable.

[0008] The first method according to the invention makes it possible for the regeneration to be carried out not only depending on the condition of the exhaust aftertreatment device, but also depending on whether the environment is suitable for regeneration.

[0009] The agricultural vehicle is specifically designed for use in agricultural fields. It is equipped with a chassis and a drive system. The vehicle is preferably designed as a carrier and / or towing vehicle, such as a tractor, to which various agricultural implements can be coupled and operated. Alternatively, the vehicle can be a self-propelled work machine, such as a harvester like a forage harvester, which includes a single implement. Examples of implements include tillage equipment such as plows, cultivators, and harrows, or harvesting machines such as mowers, rakes, and balers.

[0010] Preferably, the internal combustion engine is designed as a diesel engine. Diesel engines emit soot particles as part of their exhaust gases. Depending on the composition of the exhaust gases and / or the emission limits to be met, exhaust aftertreatment can be carried out by various exhaust aftertreatment devices. In particular, when the internal combustion engine is designed as a diesel engine, the exhaust aftertreatment device used in the first method according to the invention is a particulate filter, also called a diesel or soot particulate filter. The particulate filter typically has at least one porous wall through which the exhaust gases flow, on which particles from the exhaust gases are deposited and thus prevented from being emitted into the environment.

[0011] Preferably, the exhaust aftertreatment system includes a catalyst. The catalyst contains a catalytic agent for increasing the reaction rate of a chemical reaction in which the pollutants in the exhaust gases are converted and / or bound. The catalytic agent can be applied as a thin layer to the inner walls of the catalyst. Impurities from combustion can be deposited on the catalytic agent, causing the catalyst to gradually lose its chemical properties during operation.

[0012] Preferably, the exhaust aftertreatment system treats the exhaust gases both catalytically and by filtering. Preferably, the catalytic agent is applied to at least one porous wall of the exhaust aftertreatment system, which is designed as a particulate filter. Preferably, the commercial vehicle comprises several exhaust aftertreatment systems.

[0013] Exhaust aftertreatment systems such as particulate filters become charged during operation. Charging refers specifically to the accumulation of soot particles on the porous wall. As charging increases, the flow of exhaust gases through the wall becomes more difficult, thus impeding their expulsion. This negatively impacts the fuel efficiency of the combustion engine, the functionality of the aftertreatment system, and / or the engine's lifespan.

[0014] The regeneration of the diesel particulate filter (DPF) serves to reverse the filter's charge buildup, i.e., to break down the soot particles accumulated on its porous walls. Regeneration is preferably achieved through a process called "burn-off" of the DPF. This burn-off occurs, for example, by increasing the exhaust gas temperature, which triggers chemical reactions that break down the accumulated soot particles. A distinction can be made between passive and active regeneration of DPFs.

[0015] Passive regeneration occurs automatically when, during normal operation of the respective commercial vehicle, an exhaust gas temperature sufficient for the chemical reactions is reached. This is typically achieved when the combustion engine is operated at a high load for an extended period. Passive regeneration is not triggered or controlled by the control unit. Depending on the combustion engine's load and, for example, the ambient temperature, passive regeneration may not occur or may be insufficient for the intended reduction of accumulated soot particles. In these cases, active regeneration must be performed. However, the invention does not require the possibility of passive regeneration.

[0016] The regeneration process, a step in the methods according to the invention and specifically understood as active regeneration, is controlled by the control unit. The control unit is preferably an electronic device that is at least partially integrated into the commercial vehicle. Controlling the regeneration process includes, in particular, initiating, preventing, interrupting, suspending, and / or influencing the regeneration process. The control unit preferably controls the regeneration process completely autonomously or, optionally, particularly after considering environmental variables, requires authorization for regeneration from the operator of the commercial vehicle. This authorization can preferably be granted locally at the commercial vehicle or from a remote workstation wirelessly connected to the control unit.

[0017] Regeneration is typically performed while the commercial vehicle is stationary and can last up to 60 minutes. For regeneration to occur, the exhaust gas temperature usually needs to be raised above 500°C. This increase in exhaust gas temperature is achieved, for example, by modifying the injection behavior of the combustion engine. For this purpose, the control unit is preferably coupled to, or preferably includes, the engine control unit. In particular, post-injection of fuel is used to increase the exhaust gas temperature.

[0018] Preferably, the commercial vehicle includes the sensor. If the commercial vehicle includes a driver's cab, the sensor is preferably located outside of it. The sensor is preferably arranged such that it borders the environment surrounding the commercial vehicle and / or is positioned facing away from a surface of the commercial vehicle. The sensor preferably measures the environmental variable directly or serves indirectly for its measurement. The sensor is particularly connected to the control unit.

[0019] The environment variable contains information relating to the environment of the agricultural vehicle, i.e., a surrounding area adjacent to the vehicle. The environment variable is preferably a physical quantity such as distance or temperature. The environment variable is preferably a variable dependent on the vehicle's position. Preferably, or additionally, the environment variable describes a property of objects in the local vicinity of the vehicle, particularly in relation to the vehicle. In contrast, the environment variable does not include, for example, information entered by the operator of the vehicle.

[0020] The environmental variable is preferably a quantity that changes during the operation of the commercial vehicle. The environmental variable serves, in particular, to check whether an environmental condition is met or not. For this purpose, the control unit compares the environmental variable with the environmental condition. In this case, meeting the environmental condition is a prerequisite for regeneration. This use of environmental variables automatically avoids risks to the environment without burdening the operator with the comparison.

[0021] The first method according to the invention is particularly advantageous for use in autonomous agricultural vehicles. However, the invention is not limited to autonomously operated agricultural vehicles, but extends to various types of agricultural vehicles.

[0022] Preferably, the regeneration process is controlled such that the start time of the regeneration is determined based on environmental variables. This means that the control unit decides, depending on the environmental variables, whether or not regeneration is initiated or carried out. If regeneration is not initiated or carried out due to environmental variables, the environmental variables are compared with the ambient conditions again, particularly at a later time. This ensures that elevated exhaust gas temperatures do not occur in unsuitable environments. Alternatively or additionally, the control unit preferably selects a regeneration sequence, in particular an exhaust gas temperature profile, depending on the environmental variables.

[0023] Preferably, the sensor determines the distance from the field boundary of an agricultural field where the vehicle is operating as an environmental variable. Specifically, the distance of the sensor and / or the vehicle from the field boundary is determined. In this case, the environmental condition is that the distance is at least as great as a predefined minimum distance. Experience has shown that hedges, trees, and other vegetation, as well as power and / or telephone poles, are to be expected at the field boundary, which could be ignited by the exhaust gases if the minimum distance is not maintained. Therefore, using the distance from the field boundary as an environmental variable significantly reduces the fire risk associated with regeneration.

[0024] Preferably, the sensor is used to determine the distance to the nearest object in the environment as an environmental variable. Specifically, the distance between the sensor and / or the commercial vehicle and the object is determined. The object is preferably an immobile body that extends above the ground on which the commercial vehicle is standing, and particularly preferably at least at the height of a tailpipe of the exhaust system comprising the exhaust aftertreatment device of the commercial vehicle. In this case, the environmental condition is, in particular, that the distance is at least as great as a predefined minimum distance. The object is to be understood as part of the environment of the commercial vehicle and can, in particular, be a tree or a building. By using the distance from the object as an environmental variable, the risk of the object being damaged by hot exhaust gases is eliminated.

[0025] The distance from the object defines a space adjacent to the vehicle, and regeneration occurs when this space is free of the nearest object. This space is considered an imaginary area extending above the vehicle's ground level. Specifically, the space can also extend above the vehicle itself. If the nearest object is a tree, this also prevents the ignition of branches extending above the vehicle. The same applies if there is a building ceiling above the agricultural vehicle.

[0026] The distance from the field boundary and / or the distance from the object is preferably defined as a distance measured at least partially or completely parallel to the ground plane of the commercial vehicle. The same applies to the minimum distance. This is preferably at least 10 meters. Depending on whether the distance is measured from the field boundary or from the object, or what type of object it is, different minimum distances are preferably used.

[0027] Preferably, a GPS sensor from the commercial vehicle is used. The control unit processes position data received by the GPS sensor. To determine the distance, the position data is preferably compared with navigation data. For this purpose, the navigation data includes at least location information for the field boundary and / or the object. Using the GPS sensor represents a cost-effective method for distance determination, especially since such a sensor is often already present in agricultural vehicles.

[0028] It is further preferred that the navigation data include a map in which at least one area is marked as unsuitable for regeneration. The first area can be a public road, a forest, and / or a farmyard. Regeneration is preferably controlled based on the commercial vehicle maintaining at least the minimum distance from the first area. Alternatively or additionally, at least one second area is marked on the map as suitable for regeneration. For example, the second area could be a parking space suitable for the commercial vehicle during regeneration. By specifying the first and / or second area, the commercial vehicle's operating autonomy is increased and the risks associated with regeneration are reduced.

[0029] The navigation data is preferably stored in a memory that can be read by the control unit. Alternatively or additionally, the navigation data can be received by the control unit via a data interface, particularly a wireless one, or stored on a part of the control unit not enclosed within the commercial vehicle, which also performs the synchronization.

[0030] A preferred method is to use an object detection sensor integrated into the commercial vehicle. This sensor is directed outwards from the vehicle and allows for the determination of environmental variables, particularly without requiring stored data or a wireless data connection to a workstation located away from the vehicle. The object detection sensor is specifically designed to emit radiation and receive reflected radiation. Distance determination by the object detection sensor is performed either as an alternative or in addition to distance determination by the GPS sensor. The object detection sensor can detect objects regardless of whether they are stored in the navigation data. Consequently, the risks associated with regeneration can be effectively mitigated. Particularly high reliability is achieved when distance determination is performed by both the object detection sensor and the GPS sensor.The object detection sensor is preferably designed as a laser sensor, an ultrasonic sensor, or an optical sensor. These sensor types have proven reliable in the agricultural sector.

[0031] It is further preferred that the object detection sensor has at least one measuring direction that is at least partially or completely parallel or at least partially or completely perpendicular to the ground plane of the commercial vehicle. In particular, the object detection sensor has a field of view, with the measuring direction defining a center of the field of view. The measuring direction is considered partially parallel to the ground plane if it is not perpendicular to the ground plane. Likewise, the measuring direction is considered partially perpendicular to the ground plane if it is not parallel to the ground plane. The object detection sensor is directed laterally and / or upwards, particularly in the area of ​​the tailpipe, where the risk of fire is greatest.

[0032] The regeneration process is preferably controlled by the control unit based on several environmental variables determined by various sensors, particularly object detection sensors. Preferably, the commercial vehicle has a plurality of object detection sensors oriented differently, so that their fields of view are offset and / or overlapping. This allows the environment to be divided into several sections depending on the measuring directions of the object detection sensors, with each section being detected independently. Advantageously, object detection can thus still be performed, at least partially, even if one of the object detection sensors fails. The reliability of object detection can be further increased by operating two or more object detection sensors redundantly, e.g., with identical and / or overlapping fields of view.

[0033] Furthermore, it is preferred that the object detection sensor is equipped with object recognition. This allows the object type to be identified. In this preferred embodiment, the object type is used as an environmental variable. Specifically, it is provided that the time of the start of regeneration and / or the minimum distance from the object can be determined depending on the object type. In this way, the regeneration control can be adapted to a hazard potential characterized by the object type, such as the flammability of the object.

[0034] The second method according to the invention, which is in particular a further development of the method described above or can be further developed according to the invention with individual features described above, is characterized in that the regeneration is controlled depending on at least one parameter of an agricultural process that the commercial vehicle carries out automatically.

[0035] The process, in its broadest sense, is a process for the production of animal and / or plant products. It primarily involves the cultivation of an agricultural field. This includes soil tillage as well as the processing of crops grown in the field. Generally, the process can encompass soil cultivation, sowing, fertilization, the application of pesticides, mowing, crop collection, baling, threshing, chopping, silage production, feed mixing, and / or feed distribution. The process represents a workflow that the utility vehicle performs, particularly without the need for operator intervention. The process is defined by the operator under specified conditions. At least one parameter is entered by the operator or calculated based on the operator's input.In this context, the agricultural vehicle is particularly preferred as an autonomous vehicle that performs the process fully automatically.

[0036] At least one parameter characterizes, i.e., defines, the agricultural process. The following information, or parts thereof, are preferably suitable as parameters: - route, - Driving speed, - Commercial vehicle data, - Drive power, - Processing type - Processing time - Attachment (type) - Position of the attachment - Machining depth - Working width - Crop properties (e.g. moisture, bale diameter) - Field property

[0037] Since regeneration is controlled based on parameters and thus on the process, this method achieves process-adapted regeneration control. Therefore, the method offers the advantage that the exhaust aftertreatment system is not only regenerated immediately upon detection of a need, which regularly leads to inconvenient process interruptions, but that regeneration is meaningfully integrated into the process.

[0038] Preferably, the control device predictively determines at least one future point in time at which a fill parameter of the exhaust aftertreatment system, indicating a need for regeneration, reaches a regeneration threshold. This point in time is thus calculated in advance. This is a parameter-based estimation, whereby the predictively determined point in time should correspond as closely as possible to the point in time at which the fill parameter actually reaches the regeneration threshold. However, deviations, for example due to soil conditions that cannot be fully predicted, are not unexpected. Any expected passive regenerations are preferably included in the predictive determination. Preferably, not only is the point in time for the single regeneration threshold determined, but a profile of the fill parameter for the entire process is also determined, which in particular also takes any passive regenerations into account.Alternatively or additionally to the time, a waypoint is determined along the route. Alternatively or additionally, a progress point is determined along a command chain defining the process. The time is preferably translated into the waypoint or progress point based on the process-defining parameters, or it can be determined based on the waypoint or progress point using at least one parameter. The regeneration threshold is, in particular, a stored value at which regeneration is to be performed.

[0039] Predictive determination, i.e., forecasting, of the timing, preferably involves checking the process stage the vehicle and, if applicable, the implement will be in at that time. If the process stage is incompatible or poorly compatible with regeneration, particularly with interrupting the process, the time of actually initiating regeneration is preferably postponed. In the case of a plow as the implement, for example, a process stage in which the plowshares are moving through the soil would be unsuitable for interruption, since the vehicle would have difficulty starting from a standstill after the interruption if the plowshares were still in the ground, and the temporarily lower driving speeds would create an uneven soil surface.

[0040] The fill level indicator serves to quantify the regeneration requirement. In the preferred embodiment of the exhaust aftertreatment system as a diesel particulate filter, the fill level indicator serves alternatively or additionally to quantify the boost pressure. The regeneration limit value is preferably stored in a memory and / or adjustable by user input. A condition sensor of the commercial vehicle, particularly of the exhaust aftertreatment system, is used to determine the fill level indicator. This sensor is, for example, designed as an exhaust pressure sensor and a differential pressure sensor.

[0041] A very high soot fill level is typically associated with an increased risk of damage to the combustion engine and / or the exhaust aftertreatment system. To minimize this risk, it is advantageous to perform regeneration earlier and therefore more frequently overall. On the other hand, every regeneration initiated by the control unit represents a limitation. Consequently, the regeneration threshold, at which regeneration must be performed, represents a compromise. The compromise timing is then preferably further optimized depending on the parameter. The environmental variable is particularly favorably incorporated here. Optimizing the timing preferably involves bringing forward and / or delaying the start of regeneration.The timing of regeneration can be adjusted so that it takes place before, during, and / or after the agricultural process. Alternatively, a period within which regeneration must occur can be predictively determined based on a range of fill parameters. Depending on at least one parameter, the specific time for regeneration within this period is then determined.

[0042] Preferably, at least one final possible time is predictively determined at which the regeneration must take place. "Final possible" means that no further operation of the commercial vehicle is possible without restrictions.

[0043] Predictive timing can be determined in various ways. For example, the timing can be determined using a simulation model that models the filling characteristic taking into account at least one process parameter, and / or based on characteristic curves.

[0044] Preferably, the predictively determined time is adjusted while the agricultural vehicle is performing the agricultural process. In particular, the future time is continuously updated. For example, if the fill level increases more slowly than expected, the time is pushed back. This preferred implementation of the method allows for a response to environmental influences during the process. It is especially preferred that the predictive determination of the time is optimized using a machine learning program, thus continuously improving precision.

[0045] Preferably, the process comprises several active process phases, and regeneration is controlled such that it is carried out before the start of the active process phase within which the predictively determined future time lies. Preferably, the active process phase includes complete or partial cultivation of the agricultural field. An active process phase is preferably one in which the implement fulfills its primary purpose continuously. If the implement is a plow, the active process phases are preferably those phases of the process during which the plowshares are in contact with the soil. During field cultivation, the plow must be lifted from the soil several times to turn the vehicle with the plowshares, given typical field sizes and shapes. The active process phases preferably do not include the turning itself. Turning the vehicle is preferably considered an inactive process phase.Active and inactive phases alternate particularly favorably during the process. Further active process phases can include clearing a field edge, the transfer of harvested crop to a transport vehicle's container, and the removal of bales of harvested crop from the field.

[0046] Regeneration is preferably carried out before the implement begins to fulfill its primary purpose. Since regeneration is performed before the active process phase begins, this phase can advantageously be carried out without interruption. Alternatively, regeneration preferably takes place during an inactive process phase, or the process is interrupted before the active process phase begins, within which the predictively determined future time lies. Regeneration preferably takes place during unavoidable downtime, such as when the vehicle or implement is being refueled, loaded with seed, pesticides, or fertilizers, emptied of harvested crops, retooled, loaded, or maintained.

[0047] In a preferred embodiment of the method, the agricultural vehicle is connected to a planning system. The planning system comprises, in particular, software that is used, at least on a computer wirelessly connected to the vehicle for data exchange or on the control unit. The planning system receives at least the fill level indicator from the agricultural vehicle before or during the execution of the agricultural process and automatically assigns the vehicle one of several planned agricultural processes to execute, depending on the fill level indicator. The planned agricultural processes are preferably stored in a job list, which is read and processed by the planning system.The planning system preferentially assigns further planned processes to the same or other commercial vehicles to which the planning system is connected. The same commercial vehicle is given particular preference for later or subsequent processing of these further processes.

[0048] The process is assigned with the aim of minimizing interruptions for potential regenerations. Processes that demand high performance from the commercial vehicle(s) are preferably assigned at a high fill level, as passive regeneration is expected at high performance levels, thus reducing the fill level without interruption. The process is therefore assigned based on its parameters so that the exhaust aftertreatment system regenerates as passively as possible. Since the exhaust aftertreatment system regenerates passively more frequently with this method, the need for active regeneration arises less often, ultimately increasing operational efficiency.

[0049] The task is still solved with an agricultural vehicle that includes an internal combustion engine, an exhaust aftertreatment device and a control device.

[0050] The agricultural vehicle according to the invention is characterized in that it is equipped to carry out the method described above and below. In particular, the vehicle's control unit is configured to control the regeneration of the exhaust aftertreatment system depending on an environmental variable and / or at least one parameter of an agricultural process that the vehicle performs automatically. This enables the vehicle to perform the regeneration of the exhaust aftertreatment system at a time optimized, taking into account safety aspects and / or process optimization criteria.

[0051] The invention is described below with reference to figures. The figures are merely exemplary and do not limit the general concept of the invention. They show Fig. 1 in (a) a schematically represented top view of an agricultural vehicle according to the invention, and in (b) a schematically represented section of an agricultural field on which the vehicle is operated; Fig. 2 a flowchart of a first method according to the invention; and Fig. 3 a flowchart of a second method according to the invention.

[0052] Fig. Figure 1(a) shows a schematic top view of an agricultural vehicle 1. Fig. Figure 1(b) shows a schematic representation of a section of an agricultural field 4 with the agricultural vehicle 1.

[0053] In Fig. 1(a) is the agricultural vehicle 1 opposite Fig. Figure 1(b) is shown enlarged. The agricultural vehicle 1 is shown here as an example of a harvesting machine 1 with an attachment 16. The vehicle 1 is designed for the automatic execution of an agricultural process characterized by several parameters. This agricultural process is the harvesting of fruit grown in agricultural field 4.

[0054] The agricultural vehicle 1 comprises an internal combustion engine 11, which provides power for a drive system, a processing unit of the vehicle 1, and / or the implement 16 by burning fuel. The vehicle 1 also comprises an exhaust aftertreatment system 12 for treating the exhaust gases produced during combustion by the internal combustion engine 11. The exhaust aftertreatment system 12 is designed to be regenerable. Regeneration takes place by burning off particles accumulated in the exhaust aftertreatment system 12 through an increase in the exhaust gas temperature. Regeneration is controlled by a control unit 13 of the vehicle 1.

[0055] The commercial vehicle includes sensors 14 and 15 for determining an environmental variable. The control unit 13 is configured to control the regeneration depending on the environmental variables. Furthermore, the control unit 13 is configured to control the regeneration depending on a parameter of the agricultural process.

[0056] The control unit 13 controls the regeneration by determining a time for the start of the regeneration and carrying out the regeneration at that time. In this way, the control unit 13 takes the environment and the process into account when determining the regeneration time.

[0057] Fig. Figure 1(b) shows a section of the agricultural field 4 on which the agricultural vehicle 1 is operating. A field boundary 5 of the agricultural field 4 is shown, which is divided into a cultivation area 41 and a headland area 42.

[0058] For example, in Fig. 1(b) A collection of trees is represented as objects 8. The objects 8 are to be regarded as part of the environment.

[0059] The first sensor 14, 15 detects a distance 6 from the field boundary 5. The second sensor 14, 15 detects a distance 7 from the nearest object 8. The control unit 13 controls the regeneration such that regeneration is only carried out if the measured distances 6, 7 are above a minimum distance. Regeneration is therefore controlled depending on the distance 6, 7. Regeneration is prevented, or not carried out, until the commercial vehicle 1 has moved far enough away from object 8 and from the field boundary 5.

[0060] The agricultural vehicle 1 has an object detection sensor 14, which is designed to detect the object 8 in the vicinity of the vehicle 1 and its distance 7 from the vehicle 1. The object detection sensor 14 can be an ultrasonic sensor, a laser scanner, and / or a camera and has a measuring direction aligned parallel to the ground plane of the vehicle. The object detection sensor 14 is further designed to detect the field boundary 5 of the agricultural field 4 and to measure the distance 6 to the field boundary 5 and its distance from the vehicle 1.

[0061] The agricultural vehicle 1 is equipped with a GPS sensor 15, which is designed to determine the vehicle's position. In addition to the object detection sensor 14, the GPS sensor 15 can also determine the distance 6, 7 to the nearest object 8 and the field boundary 5. This is achieved using navigation data that includes at least one piece of information about the location of object 8 and / or the field boundary 5. The control unit 13 is configured to compare the location of object 8 and / or the field boundary 5 with the position of the agricultural vehicle 1 and thus determine the distance 6, 7.

[0062] In the illustrated embodiment, the agricultural process comprises at least one automatic processing of the processing area 41 of the field 4 along a travel route 3. The travel route 3 is created before the processing of the processing area 41 and provided to the control device 13.

[0063] As an example, the route comprises three straight route elements 31 within the processing area 41, as well as curved route elements 32 for turning the agricultural vehicle 1 in the headland area 42. The process has different phases. A distinction is made between active process phases, in which the agricultural vehicle 1 is driven along the straight route elements 31 and the implement fulfills its main purpose, and inactive phases, in which the agricultural vehicle 1 is driven along the curved route elements 32 and the implement does not fulfill its main purpose. The active process phases each have a start point 33 and an end point 34, with each end point 34 of the active process phase representing a start point of the subsequent inactive process phase.

[0064] The commercial vehicle 1 has a condition sensor 17 designed to detect a fill level indicator that signifies a need for regeneration of the exhaust aftertreatment system 12. The fill level indicator identifies the state of the exhaust aftertreatment system 12. The control unit 13 is capable of predictively determining a future time at which the fill level indicator reaches a regeneration limit, depending on at least one of the parameters. Since the process is defined by the route 3, the associated waypoint P1 along route 3 can, in principle, also be determined at that time.

[0065] Waypoint P1 lies within one of the active process phases. Regeneration is controlled by the control unit 13 so that it is carried out before the start of the active process phase in which waypoint P1 lies. In this case, it is carried out in the preceding inactive phase, i.e., before or at starting point 33.

[0066] The agricultural vehicle 1 is also connected to a planning system, which is not shown in the figure.

[0067] Fig. Figure 2 shows a flowchart illustrating a first method according to the invention. The method relates to the operation of the agricultural vehicle 1 of the Fig. 1 and is therefore carried out with the aid of the Fig. 1 is described. The agricultural vehicle 1 is operated during the execution of an agricultural process S200. In a first step S210, an internal combustion engine 11 of the agricultural vehicle 1 is operated to provide mechanical power for carrying out the agricultural process. In the same step S210, exhaust gases from the internal combustion engine 11 are treated by an exhaust aftertreatment device 12 of the vehicle 1.

[0068] In the S220, the fill level is detected by a condition sensor 17 and compared with a regeneration limit. The fill level is detected at regular intervals during operation of the combustion engine. If the detected fill level is below the regeneration limit, as illustrated by branch N1, no further action is taken and the process described above is repeated.

[0069] If the measured fill level reaches the regeneration limit, the environmental variables, which are distances 6 and 7, are checked at S230, as illustrated by branch J1. If both distances 6 and 7 are above a minimum distance, regeneration is performed at S240, as illustrated by branch J2, and the process starts again. If, however, one of the distances 6 or 7 is below the minimum distance, no regeneration is performed, as illustrated by branch N2. The fill level is then measured again, since, while at least one of the distances 6 or 7 is still below the minimum distance, it could have fallen below the regeneration limit through passive regeneration, thus rendering the initiation of regeneration by the control unit 13 unnecessary.

[0070] Fig. Figure 3 shows a flowchart for simplified illustration of a second method according to the present invention. This method also relates to the operation of the agricultural vehicle 1. Fig. 1 and is therefore carried out with the aid of the Fig. 1 described.

[0071] The second procedure again concerns the automated execution of an agricultural process and its preparation. Before the process is carried out, a future time point is predictively determined (S310) using at least one process-defining parameter. This is the time at which the fill level will reach the regeneration level. Subsequently, a check (S320) is performed to determine whether the predictively determined time point falls within an active process phase of the agricultural process. If this is not the case, regeneration (S340) takes place at the calculated time, as illustrated by branch N3. However, if the predictively determined time point falls within an active process phase, then, as illustrated by branch J3, the time point (S330) is shifted to a passive process phase preceding the active process phase, during which regeneration (S340) is carried out.

Claims

[1] Method for operating an agricultural utility vehicle (1) comprising an internal combustion engine (11), an exhaust gas aftertreatment device (12) and a control device (13), wherein the internal combustion engine (11) generates exhaust gases by combustion of a fuel, the exhaust gas aftertreatment device (12) aftertreats the exhaust gases, and the control device (13) controls a regeneration of the exhaust gas aftertreatment device (12), characterized by that an environmental variable is determined by means of a sensor (14, 15) and the regeneration is controlled as a function of the environmental variable (6, 7). [2] Method according to claim 1, characterized by that the regeneration is controlled in such a way that a time of commencement of the regeneration is determined as a function of the environmental variable (6, 7). [3] Method according to one of the preceding claims, characterized bythat by means of the sensor (14, 15) a distance (6) from a field boundary (5) of an agricultural field (4) on which the commercial vehicle (1) is operated is determined as an environmental variable (6). [4] Method according to one of the preceding claims, characterized by that by means of the sensor (14, 15) a distance (7) from a nearest object (8) of the environment, in particular a tree or a building, is determined as an environmental variable (7). [5] Method according to one of the preceding claims, characterized by that a GPS sensor (15) of the commercial vehicle (1) is used as the sensor (15). [6] Method according to one of the preceding claims, characterized by that an object detection sensor (14) of the commercial vehicle (1) is used as the sensor (14), which is designed in particular as a laser sensor, ultrasonic sensor or optical sensor. [7] Method according to one of the preceding claims, characterized bythat the object detection sensor (14) has at least one measuring direction which is aligned at least partially parallel or at least partially perpendicular to a support plane of the commercial vehicle (1). [8] Method according to one of the preceding claims or for operating an agricultural utility vehicle (1) comprising an internal combustion engine (11), an exhaust gas aftertreatment device (12) and a control device (13), wherein the internal combustion engine (11) generates exhaust gases by combustion of a fuel, the exhaust gas aftertreatment device (12) aftertreats the exhaust gases, and the control device (13) controls a regeneration of the exhaust gas aftertreatment device (12), characterized by that the regeneration is controlled as a function of at least one parameter of an agricultural process which the commercial vehicle (1) carries out automatically. [9] Method according to one of the preceding claims, characterized bythat the control device (13) predictively determines at least one future point in time at which a filling characteristic value of the exhaust gas aftertreatment device (12), which characterizes a need for regeneration, reaches a regeneration limit value, based on the parameter. [10] Method according to one of the preceding claims, characterized by that the future time is adjusted while the commercial vehicle (1) carries out the agricultural process. [11] Method according to one of the preceding claims, characterized by that the process comprises several active process phases and the regeneration is controlled in such a way that it is carried out before the start of the active process phase within which the future point in time lies. [12] Method according to one of the preceding claims, characterized bythat the agricultural utility vehicle (1) is connected to a planning system which receives the filling characteristic value from the utility vehicle (1) before the automatic execution of the process and automatically assigns one agricultural process from several planned agricultural processes to the agricultural utility vehicle (1) for execution depending on the filling characteristic value. [13] Agricultural utility vehicle (1), comprising an internal combustion engine (11), an exhaust gas aftertreatment device (12), and a control device (13), characterized by a training for carrying out the method according to one of the preceding claims.

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