SYSTEMS AND METHODS FOR REGULATING THE SPEED OF AN AGRICULTURAL MACHINE

Abstract

One or more technologies and systems are provided for controlling the speed of an agricultural machine, which may include determining the mass of the agricultural machine's vehicle system. The vehicle system may comprise the agricultural machine and one or more containers and implements that are operationally connected to the agricultural machine. A control unit can calculate the stopping distance of the agricultural machine based on its braking capacity and use one or more factors derived from a specific, dynamically changing mass of the agricultural machine and the dynamically changing braking load of the implement.A maximum speed of the agricultural machine can be determined based on the calculated stopping distance and the speed of the machine, which can be regulated to below the maximum speed.

Description

STATE OF THE ART

[0001] Vehicles, such as agricultural machinery, are designed for autonomous operation. In autonomous mode, speed control and braking functions are still required, for example, to control the vehicle's speed, decelerate, stop the vehicle (as needed) during the work cycle, or when an object is detected near the tractor and / or an attached implement. Current speed control and braking architectures are designed to be operated by an operator seated in the agricultural machine's control station (e.g., the vehicle's cab). In autonomous environments without additional controls, it may be necessary to limit the vehicle's speed, which can negatively impact productivity. SUMMARY

[0002] This summary is provided to present a selection of concepts in simplified form, which are described in more detail below. This summary is not intended to identify key factors or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of protection of the claimed subject matter.

[0003] This document describes one or more methods and systems for speed control of an agricultural machine. In one embodiment, a computer-based system for controlling the speed of an agricultural machine may comprise a vehicle system and a control unit. The vehicle system may include one or more components of the agricultural machine designed to perform agricultural field work, and a container and / or implement operationally connected to the agricultural machine. The control unit may be designed to determine the mass of the vehicle system at a given time. The container may contain a mass that changes dynamically. The implement may contain a tractive load that changes dynamically.The control unit can calculate the stopping distance of the agricultural machine based on its braking capacity and using one or more of the specified masses of the vehicle system and the towing load. The control unit determines a maximum speed for the agricultural machine based on the calculated stopping distance. The control unit can regulate the speed of the agricultural machine below the maximum speed and / or provide a recommended speed to the operator.

[0004] To achieve the foregoing and related objectives, the following description and the attached drawings present certain illustrative aspects and implementations. However, these indicate only a few of the various ways in which one or more aspects may be implemented. Further aspects, advantages, and novel features of the disclosure will become apparent from the following detailed description when considered in conjunction with the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The examples disclosed here can be realized in certain parts and in an arrangement of parts and are described in more detail in this description and illustrated in the accompanying drawings, which form part thereof; the drawings depicting the following: Fig. Figure 1 is a diagram illustrating a harvesting process in a field, using an example. Fig. Figure 2 is a diagram of a harvesting vehicle, illustrating a harvesting process according to an example. Fig. 3A is another diagram that illustrates a harvesting process in a field, using an example. Fig. 3B is an enlarged view of area 3B in Fig. 3A. Fig. 3C is an enlarged view of the 3C area in Fig. 3C. Fig. Figure 4 is a block diagram that represents a speed control system after one execution. Fig. Figure 5 presents an example of a procedure for vehicle speed control according to one embodiment. Fig. 6 A diagram of speed control curves according to one design. Fig. Figure 7 is a block diagram of an electronic control unit that can be used in one or more versions. Fig.Figure 8A is a schematic diagram of a working tool engaged with the ground, used according to one of the systems and procedures described herein. Fig. Figure 8B is a schematic diagram of a working tool not in contact with the ground, used according to one of the systems and procedures described herein. DETAILED DESCRIPTION

[0006] The claimed subject matter is now described with reference to the drawings, in which the same reference numerals are consistently used to refer to the same elements. For explanatory purposes, numerous specific details are set forth in the following description to provide a thorough understanding of the claimed subject matter. However, it may be apparent that the claimed subject matter can be exercised without these specific details. In other cases, structures and devices are shown in block diagram form to simplify the description of the claimed subject matter.

[0007] The methods and systems disclosed herein may, for example, be suitable for use in speed control and stopping distance management of agricultural machinery. In the non-restrictive examples described herein, the described methods and systems may be suitable for different harvesting vehicles and harvesting applications. That is to say, the examples disclosed herein may be used in various harvesting vehicles, not just those suitable for specific types of crops and / or harvesting systems (e.g., other than specific combine harvesters for specific harvesting applications such as harvesting specific grain), to control the movement of harvesting vehicles and other vehicles in order to improve performance, for example, by increasing crop throughput.

[0008] For example, one or more of the examples described herein enable the control of the speed of one or more agricultural machines, including managing the stopping distances of the agricultural machines during harvesting operations to increase the productivity of the entire harvesting system (e.g., to maximize the throughput of the harvesting system by maintaining an optimized speed for the agricultural machines). This means that one or more examples control the speed of agricultural machines to maintain a predetermined stopping distance. In some examples, vehicle speed control (using stopping distance determination) is combined with perception systems for autonomous agricultural machines to allow for varying speeds while maintaining the system's stopping capabilities.Without such control in autonomous systems, speed limits would have to be imposed on systems based on worst-case calculations (e.g., the maximum possible stopping distance), thus limiting productivity even if stopping distances can be maintained. With one or more of the speed control implementations described herein, imposed speed limits would no longer necessarily have to be based on worst-case calculations. It is understood that the examples described herein can also be used in semi-autonomous and non-autonomous applications.

[0009] In some configurations, different agricultural machines move within and outside a field during various operations (e.g., harvesting, fertilizing, etc.). In one or more examples, the mass (or weight) of the agricultural machines, which can change during operations (e.g., an empty grain wagon compared to a full one), is used to regulate the speed of the agricultural machines, specifically to keep the speed below a predetermined limit (e.g., a predetermined maximum speed) to ensure effective stopping distances for the agricultural machines.In some configurations, particularly during autonomous operation of agricultural machinery, the regulations described herein allow the productivity of the harvesting system to be increased or maximized when a certain number of agricultural machines work together, by regulating the speed of each machine to be close to a specified maximum speed. That is, instead of limiting the speed of the agricultural machines to a value based on their maximum weight, one or more examples dynamically adjust the maximum speed based on the mass of the agricultural machine and, optionally, other factors that can affect braking distances. For example, current data (e.g., vehicle mass, harvesting conditions, etc.) can be used.) and optionally historical data as well as one or more characteristics of the agricultural machinery are used to regulate the speed of the agricultural machinery.

[0010] It is understood that one or more of the examples described herein may be used in connection with any type of agricultural application, such as all types of harvesting operations. That is to say, the present disclosure considers systems and arrangements used in agricultural environments or applications that are subject to a process and / or not subject to a process. Fig. 1 represents a working machine 100, for example an agricultural tractor. This disclosure also applies to other types of working vehicles used in agriculture, construction, forestry and road building.

[0011] In one or more examples, the movement of a vehicle (i.e., the movement of an agricultural machine) within a field, in particular the vehicle's speed, is controlled using speed control processes as described in more detail below. For example, as in the Fig. 1 and Fig.Figure 2 shows a system for regulating the speed of an agricultural machine 100, comprising a vehicle system 210 and a control unit 110. In exemplary embodiments, regulating the speed of the agricultural machine 100 can refer to controlling the speed by means of the control unit for an autonomous agricultural machine or by providing a recommended speed to an operator. The vehicle system 210 can comprise the agricultural machine 100, which is designed for agricultural field use, and a container 202, which is operationally connected to the agricultural machine. Generally, the control unit 110 is designed to receive at least one or more dynamically changing inputs from the vehicle control system to regulate the speed of the agricultural machine 100.One of the dynamically changing inputs can be the mass of the vehicle system 210. The control unit 110 can be configured to determine the mass of the vehicle system 210 at a given time. The container 202 can contain the mass that changes dynamically. The implement can contain a towing load that changes dynamically. The control unit 110 calculates a stopping distance for the agricultural machine 100 based on the braking capacity of the agricultural machine 100 using the determined mass of the vehicle system 210. The control unit 110 determines a maximum speed for the agricultural machine 100 based on the calculated stopping distance. The control unit 210 can regulate the speed of the agricultural machine 110 so that it remains below the maximum speed.

[0012] In a non-restrictive example, the agricultural machine 100 can be a tractor 200 and the container 202 can be a wagon 202. Speed ​​control of the tractor 200 and the wagon 202, in coordination with one or more harvesting vehicles 100 (e.g., combine harvesters), is provided. It is understood that the examples described herein for speed control (and brake control), as well as for coordinating vehicle movement with any other type of vehicle, such as all types of vehicles used in harvesting operations or other field operations or work processes that do not take place in fields, can be used.Various embodiments of this disclosure can be used to regulate the movement of one or more agricultural machines and, more generally, working machines, including, but not limited to, agricultural vehicles, harvesters, combine harvesters, agricultural equipment, tractors, sprayers, seed drills, planting machines, mowers, automobiles, trucks, armored vehicles, mine clearance vehicles, utility vehicles, or any other vehicles intended to cover specific terrain areas. Container 202 can take different forms and may, among other things, consist of one or more grain wagons, grain trailers, grain tanks, tank boilers, seed wagons, seed containers, transport containers, or fuel tanks.The control activities can be carried out using different control units, for example within a single computer system or within a distributed computer system.

[0013] As in Fig. 1 can be seen and also referring to the Fig.3A to 3C describe agricultural machinery 100, such as several harvesting vehicles, operating in a coordinated manner (e.g., simultaneously) within a harvesting system 102 to harvest crop 104 and transport or unload it using transport trucks 106 (e.g., a semi-trailer truck with a grain trailer). It is understood that one or more of the examples described herein maximize the overall productivity of the harvesting system 102, taking into account operations occurring within a field 108 (e.g., movement of harvesting vehicles, weight of the vehicles, etc.) as well as operations outside the field 108 (e.g., movement of transport trucks 106 on a road outside the field 108 (e.g., a public road) or delivery of the crop to grain silos or elevators at another location) to regulate the speeds of the vehicles.In some examples, several agricultural machines operate in a networked environment according to an illustrative example that enables communication with a control unit 110 (e.g., a control system or server located away from the field 108) using a network 112 (e.g., a network or wireless communication system).

[0014] In some examples, the control unit 110 can be a single computer or a cloud with distributed computers. The control unit 110 is designed to support physical databases and / or connections to other external databases containing data used, as described herein, to control movements, in particular the speed and braking of vehicles within and relative to field 108. In the illustrative example, the harvester 100 is working in field 108, which can be any piece of land being cultivated to grow crops for agricultural purposes, including, in the illustrated example, a headland 114 and a working area 116.

[0015] The agricultural machines include a speed control system 300 as in Fig.4 shown and / or work together with such a system. In some examples, the cruise control system 300 is designed as an autonomous speed and brake control system. The cruise control system 300 includes an autonomous control unit 304, which is designed to receive a control signal (e.g., a wireless speed control signal) and transmit the received signal to a cruise control 306. In some examples, the autonomous control unit 304 processes or preprocesses the received signal before transmitting the signal to the autonomous control unit 304. In some examples, the autonomous control unit 304 is a transmitting and receiving device (e.g., a transmitter / receiver) that is operated for communication between the cruise control 306 (which in some examples includes or is designed to include brake control) and a signal generator 310, which generates the control signal 302.The signal generator 310 can be installed in various locations, for example, on an autonomous control console located remotely from the agricultural machine (e.g., in a farm building), in the cab of agricultural machinery (e.g., the cab of a tractor 200), etc. In some examples, the signal generator 310 generates signals based on one or more inputs (e.g., the current weight of the wagon 202), and in other examples, it generates signals automatically (e.g., based on feedback to regulate a vehicle's maximum speed and to stop a vehicle).

[0016] The cruise control unit 306 is designed in various examples to control the operation of one or more vehicle components 308, as described in more detail herein, thereby regulating the speed and / or braking operations of the agricultural machinery. That is, the cruise control unit 306 receives signals from the autonomous control unit 304 and controls the operation of one or more components of the agricultural machinery to cause an acceleration force, a braking force, etc., to be applied to accelerate, decelerate, or stop the agricultural machinery, which includes enabling autonomous vehicles to operate at higher speeds. It should be noted that in some examples, the cruise control unit 306 controls the operating speed of different components of one or more vehicles.In some examples, the cruise control system 306 regulates the speed and braking of the tractor 200 and the wagon 202 being pulled by the tractor 200. It should also be noted that one or more components or operating processes of the cruise control system 300 can be combined or separated, and the function / operating blocks in . Fig. Figure 4 is shown only as an example. For instance, although the autonomous control unit 304 is connected in series with the cruise control 306 and then with the vehicle components 308 as shown, other configurations and connections are possible. For example, in some arrangements, the autonomous control unit 304 is designed to send a signal directly to the vehicle components 308. In this way, parallel signals can be output by the autonomous control unit 304.

[0017] In some examples, the cruise control system 300 regulates the agricultural machinery to a maximum speed, within a speed range, etc. In one embodiment, the cruise control system 300 uses the known mass of the vehicle system 210 (e.g., the tractor 200 and wagon 202) to regulate the vehicle to the maximum speed necessary to ensure effective stopping distances. In one or more examples, the cruise control system 300 uses the known mass and the equation Energy = 1 / 2 * Mass * Velocity^2 to determine how much energy the vehicle's braking system must dissipate, and then calculates the stopping distance as a function of the braking capacity. The cruise control system 300 then uses this calculation to regulate the vehicle to the maximum speed at which the stopping distance requirements are met.It should be noted that the mass or weight of the vehicle, including any changes to it, can be determined using different technologies (e.g., vehicle weight monitoring systems).

[0018] In one example, a tractor pulls an empty grain wagon (e.g., Tractor 200 and Grain Wagon 202) across a field. The grain wagon has scales that communicate with the tractor's brake control system, and the system can also access information on the empty weights of both the tractor and the grain wagon. The tractor also has a predefined braking capacity, and in several examples, a pre-programmed stopping distance is defined based on system requirements (e.g., braking or stopping requirements). With an empty grain wagon, the tractor can travel faster within the field and maintain stopping distances. As the grain wagon fills with weight, the maximum vehicle speed is reduced in several examples, as described herein, to maintain the predefined stopping distance.It should be noted that other factors or data can be used as inputs to control speed and braking, for example terrain or gradient data to compensate for machine position effects.

[0019] As another example, a combine harvester with an empty grain tank can stop faster than one with a full tank, and therefore its speed is limited to ensure that stopping distance requirements are met. Speed ​​and braking control can also be applied to a sprayer with an empty or full tank. In this example, weight data can be calculated using a measured liquid volume and the liquid's density or specific gravity. Speed ​​and braking control can also be applied to a seed drill with a seed wagon that measures the contents (e.g., the weight of the seed). Finally, speed and braking control can be applied to a planting machine that measures its contents (e.g., the weight of the planting material).

[0020] It should be noted that although the speed and braking control can be applied to vehicle systems 210 with dynamically changing weights as described herein, the speed and braking control can also be used with implements that engage with the ground, such as implements with ground engagement units. For example, an implement 800 that is operationally connected to the agricultural machine 100 is in Fig. 8A in a position engaged with the ground and in Fig.8B is shown in a position not in contact with the ground. When the implement 800 or the vehicle system 210 is in contact with the ground, a higher speed is possible due to the tractive force generated by the implement 800, as this assists in stopping the agricultural machine 100. The tractive force can change dynamically. Thus, the dynamically changing tractive force can represent one of the dynamically changing inputs from the vehicle system 210 to the control unit 110. If the implement 800 is lifted from the ground into a position not in contact with the ground, the speed and braking control (e.g., a speed and braking algorithm) can then revert to the weight-based method for determining stopping distances. In most cases, however, the tractive force of the implement in contact with the ground will limit the forward speed.

[0021] As described herein, a dynamically changing mass changes more rapidly at certain times, for example, when the crop 104 is harvested into the container 202 or when the crop 104 is transported from the container 202 to the transport trucks 106. In other examples, the mass changes much more slowly, and thus the system does not exhibit significant weight changes. In a non-restrictive example, the base weight of the vehicle system is used to calculate stopping distances / speed limits. This base weight is not measured dynamically in this example and can be a user-entered value, a factory-programmed value, a value communicated to the system when it is switched on, etc. For example, the operator can add ballast weight 210 to the vehicle system.For example, an implement has a base weight, and a tractor has a base weight, both of which are known values. If the implement is electronically connected to the tractor, it can communicate its weight to the cruise control system 300, which then uses the combined system mass to perform speed control and braking calculations as described herein. Additionally, for an implement equipped with brakes, the braking capacity information can be communicated to the cruise control system 300 and then used to calculate the speed limit based on the specified stopping distance. Another example of a slower speed with a dynamically changing mass is when the agricultural machine 100 is a tractor 202 pulling an empty grain wagon 202.In such an example, the dynamically changing mass can be attributed to the fuel tank of a tractor, whereby the systems and procedures described herein can still be used and considered advantageous.

[0022] Several examples provide improved speed control (and braking control), particularly for autonomous agricultural machinery, as shown in flowchart 400 in Fig.Figure 5 illustrates this. It should be noted that various control schemes and arrangements are conceivable, enabling speed and braking control under different vehicle system conditions. That is, flowchart 400 depicts operational processes of a procedure involved in the design of a speed control and / or braking system, such as an autonomous speed control and braking system (e.g., speed control system 300), to improve speed control and braking, particularly autonomous speed control and braking, for optimizing field operations. In some examples, the operational processes of flowchart 400 are carried out using one or more configurations, as described in more detail below.

[0023] Flowchart 400 begins at 402, which contains the determination of the mass of an agricultural machine. As described herein, the mass can be determined using any method, including using a known weight or mass of the vehicle, a measured weight or mass, a user-entered weight or mass, etc. The mass value can be stored (and updated based on changes during the operations as described herein) and can refer to one or more vehicles within a vehicle system. For example, if the agricultural machine includes a tractor pulling a grain wagon, determining the mass includes determining the weight of the tractor-grain wagon combination, including the contents of the grain wagon.As described in more detail herein, this determination may involve determining the weight of the contents using a measured volume of the grain wagon and a density of the contents, or other measured values. In some examples, a base weight of the agricultural machine is used as the determined mass, where the base weight is derived from a user-defined value, such as ballast added by the operator, a factory-defined value, or a value obtained when the agricultural machine is started.

[0024] The stopping distance of an agricultural machine is calculated on page 404 based on the braking capacity of the agricultural machine and using the specified mass of the agricultural machine. For example, as described herein, if the mass of the vehicle is known, the braking characteristics or properties of the agricultural machine can be calculated. In some examples, the calculated stopping distance is based partly on a desired or required stopping distance for a particular activity or application, etc., for example, based on one or more terrain conditions, one or more conditions of one or more components of the agricultural machine, etc. Thus, in some examples, the stopping distance defines an effective stopping distance. In other examples, the stopping distance is a pre-programmed stopping distance based on a field operation to be carried out.

[0025] A maximum speed for the agricultural machine is determined on page 406 based on the calculated stopping distance. For example, the maximum speed for the agricultural machine is determined using the calculated stopping distance or other known factors that can influence braking, as described herein, to ensure that the agricultural machine can stop within a desired or required stopping distance. The maximum speed may also be adjusted based on other factors such as environmental conditions, operating conditions, etc.In some examples, the maximum speed of the agricultural machine is adjusted in response to a change in the specific mass of the agricultural machine, in response to a change in the position of a work implement 800 that assists in stopping the agricultural machine, or based on the performance of one or more harvesting tasks, etc.

[0026] The speed of the agricultural machine is regulated at 408 to remain below the maximum speed. For example, a warning can be provided when the agricultural machine approaches its maximum speed (e.g., within a predetermined range). In some examples, control signal 302 is sent to provide the warning. In another example, control signal 302 can provide the operator with a recommended speed. Such a recommended speed can be indicated by a visual cue visible to the operator. The visual cue can be permanently displayed. Furthermore, the visual cue can display colors indicating how close the agricultural machine's speed is to its maximum speed at any given time, for example, as a red, yellow, or green indicator.In one or more examples, the control signal 302 is used by the autonomous control unit 304 to adjust the speed of the agricultural machine or to cause the agricultural machine to slow down. In one or more examples, based on the control signal 302, and if the agricultural machine is not within a predetermined maximum speed range, the autonomous control unit instructs or commands the agricultural machine to increase its speed. It is understood that the agricultural machine can be controlled below its maximum speed using any suitable speed control or braking control operations.

[0027] Fig.Figure 6 presents a control scheme in an example. In particular, diagram 500 shows control curves 502 and 504, which can be used, for example, by the autonomous control unit 304 to control the speed of the agricultural machine. Curve 502 represents a speed control curve, and curve 504 represents a speed control curve with a response time (e.g., time to react to a condition or event). In the diagram, the x-axis represents the mass of the agricultural machine, and the y-axis represents the speed of the agricultural machine. In this example, curves 502 and 504 are generated to maintain a desired or required stopping distance, as described in more detail herein.This means that curves 502 and 504 are used to regulate vehicle speed and braking activity to a maximum value, as specified by one of the curves, to ensure that a desired or required braking demand is met. Curves 502 and 504 correspond to desired or required speed control or speed control profiles for a specific agricultural machine. It should be noted that other factors can be used in the calculations, such as adding gradients or other calculations, which can modify curves 502 and 504. Furthermore, if the mass of the agricultural machine changes, curves 502 and 504 can be adjusted (e.g., shifted or otherwise modified) to maintain the desired or required braking demand.

[0028] The curves represent a fixed braking capacity. This braking capacity, also referred to as deceleration rate, could be adjusted to different modes based on factors such as the presence or absence of an operator and / or the coefficient of friction of the ground on which the agricultural machine is operated.

[0029] In another implementation, these curves could also be learned dynamically on the agricultural machine by measuring the stopping distance (measured by wheel revolutions, radar, GPS, or other detection methods) and the braking force applied from the start of brake application until the machine reaches a desired slower speed or comes to a complete stop. In this mode, the system acts reactively rather than proactively to update its model, but does not necessarily require a dynamic measurement of the system weight. Other factors, such as machine attitude effects (i.e., vehicle orientation in terms of pitch, roll, and yaw), could also be integrated into the model and dynamically updated as the agricultural machine travels across the field and attempts to stop.

[0030] In some examples, and particularly with reference to Curve 504, the reaction time is the reaction time of a perception system (as used, for example, in autonomous operation). The perception system can include at least one sensor 608 or a sensor array. The at least one sensor or the sensor array can receive perception data. The perception data can change dynamically based on environmental conditions such as fog, weather, changing topography, and other conditions that may limit visibility. This has a greater impact at higher speeds than at lower speeds. To effectively manage stopping distances, the algorithm of one or more examples considers any time delays between the detection of the need to stop and the moment the brakes are applied.Thus, curve 504 represents an initial speed limit, and curve 504 represents the adjusted speed limit after taking recognition delays into account.

[0031] In one or more examples, curves 502 and 504 are speed limits calculated as described in more detail herein, using one or more of the following: target stopping distance, perception system reaction time, stopping distance including reaction time, braking energy, braking force, mass, velocity, and velocity after taking reaction time into account, and others. Graph 500 is calculated specifically based on the values ​​in the table below. Table 1 Inputs output Target stopping distance (m) Reaction time of the perceptual system (s) Stopping distance with reaction time (m) Braking energy (J) Braking force (N) Mass (kg) Speed ​​(m / s) Speed ​​after taking reaction time into account. 50 1 5 1000000 20000 1000 45 15 50 1 18 1000000 20000 2000 32 19 50 1 24 1000000 20000 3000 26 18 50 1 38 1000000 20000 14000 12 10 50 1 38 1000000 20000 15000 12 10 50 1 39 1000000 20000 16000 11 10 50 1 39 1000000 20000 17000 11 10 50 1 39 1000000 20000 18000 11 9 50 1 42 1000000 20000 30000 8 7 50 1 42 1000000 20000 31000 8 7 50 1 42 1000000 20000 32000 8 7 50 1 43 1000000 20000 45000 7 6 50 1 43 1000000 20000 46000 7 6 50 1 43 1000000 20000 47000 7 6 50 1 44 1000000 20000 58000 6 6 50 1 44 1000000 20000 59000 6 5 50 1 44 1000000 20000 60000 6 5

[0032] In this example, the following equations are used, where E is the kinetic energy, m is the mass, V is the velocity, W is the weight, F is the force, and d is the stopping distance: 1. E = 1 / 2mV^2 2. W = F / d 3. F / d = 1 / 2mV^2 4. (2*d(F / m))^0.5=V

[0033] Thus, speed and braking control can be provided using the calculated curves 502 and 504.

[0034] In one or more examples, an ECU 600 is designed to control various aspects of the operation of one or more components or forms a part of one or more components (for example, the cruise control system 300), as in Fig.Figure 7 illustrates this. For example, the ECU 600 is designed to control the cruise control system 300. The ECU 600 comprises several electrical and electronic components that provide power, operational control, and protection for the components and modules within the ECU 600. In particular, the ECU 600 includes, among other things, an electronic processor 604 (e.g., a programmable microprocessor, a microcontroller, or similar device), a non-volatile machine-readable memory 602, and an input / output interface 606. The electronic processor 604 is communicatively coupled to the memory 602. The electronic processor 604 is designed to retrieve and execute instructions from the memory 602 relating to the control processes and procedures described herein, such as controlling speed and braking by the cruise control system 300.In some examples, the ECU 600 includes additional, fewer, or different components. The ECU 600 can also be designed to communicate with external systems, including, for example, other vehicle components and / or controls.

[0035] The ECU 600 in the illustrated example is communicatively coupled with several sensors 608, which are configured as or include sensors that measure the weight of a vehicle's contents, measure speed, receive data from the perception system, etc. In some examples, the ECU 600 receives a signal input from one or more of the sensors 608, which, for example, indicate an instantaneous load (weight), and is designed to adjust and / or control one or more components of the cruise control system 300. The input / output interface 606 facilitates communication between the ECU 600 and the cruise control system 300. For example, the ECU 600 is designed to use the input / output interface 606 to control various settings of the cruise control system 300 to achieve a desired or required stopping distance in some examples.

[0036] It should be noted that in some examples, Memory 602 includes any computer-readable media. In one example, Memory 602 is used to store and provide access to instructions configured to perform the various operational steps disclosed herein. In other examples, Memory 602 includes computer storage media in the form of volatile and / or non-volatile memory, removable and non-removable memory, data disks in virtual environments, or a combination thereof. In one example, Processor(s) 604 includes any set of processor units that read data from various entities such as Memory 602. In particular, Processor(s) 604 are programmed to execute computer-executable instructions for performing aspects of the disclosure.In one example, the instructions are made by the processor(s) 604, and the processor(s) 604 are programmed to execute instructions, such as those to perform one or more of the operating steps listed herein and illustrated in the accompanying drawings.

[0037] Although the description refers to a specific computing device, examples of the disclosure are capable of implementation with numerous other general or purpose-built computing system environments, configurations, or devices. Implementations of known computing systems, environments, and / or configurations suitable for use with aspects of the disclosure include, but are not limited to, smartphones, portable tablets, mobile computing devices, desktop computers, servers, handheld devices or laptops, multiprocessor systems, game consoles, microprocessor-based systems, set-top boxes, programmable consumer electronics, mobile phones, wearable or accessory computing and / or communication devices (e.g., watches, glasses, headphones, or earphones), network computers, minicomputers, mainframe computers, distributed computing environments including any of the foregoing systems or devices, VR devices, holographic devices, and the like.Such systems or devices accept user input in any way, including via input devices such as keyboards or pointing devices, via gesture input, proximity input (e.g. by leaning over) and / or via voice input.

[0038] Implementations of the disclosure, such as control units or monitors, are generally referred to as computer-executable instructions, such as program modules, which are described by one or more computers or other devices in software, firmware, hardware, or a combination thereof. In one example, the computer-executable instructions are stored in one or more computer-executable components or modules. Generally, program modules include, among other things, routines, programs, objects, components, and data structures that perform specific tasks or implement certain abstract data types. In one example, aspects of the disclosure are implemented using any number and arrangement of such components or modules.For example, aspects of the disclosure are not limited to the specific computer-executable instructions or the specific components or modules depicted in the figures and described herein. Other examples of the disclosure include various computer-executable instructions or components that have more or fewer functions than those depicted and described herein. In embodiments that include a general-purpose computer, aspects of the disclosure transform the general-purpose computer into a purpose-built computing device if it is designed to execute the instructions described herein.

[0039] By way of example and without limitation, computer-readable media include computer storage media and communication media. Computer storage media include both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or the like. Computer storage media are material and mutually exclusive with communication media. Computer storage media are implemented in hardware and exclude carrier waves and propagating signals. Computer storage media, as defined in this disclosure, are not signals per se.For example, computer storage media include hard disks, memory sticks, solid-state storage, phase-change memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other storage technologies, compact disc read-only memory (CD-ROM), DVDs or other optical storage media, magnetic cartridges, magnetic tapes, magnetic disk storage or other magnetic storage media, or any other media not intended for transmission and used to store information for access by a computing device.In contrast, communication media typically embody computer-readable instructions, data structures, program modules, or similar things in a modulated data signal such as a carrier wave or other transport mechanism, and include any information delivery media.

[0040] Although various spatial and directional terms, such as, but not limited to, top, bottom, lower, middle, lateral, horizontal, vertical, front, and the like, may be used to describe the present disclosure, it is understood that such terms are used only with regard to the orientations as shown in the drawings. The orientations may be reversed, rotated, or otherwise changed, so that an upper section becomes a lower section and vice versa, horizontal becomes vertical, and so forth.

[0041] The term "exemplary" is used here to serve as an example, a case, or an illustration. Any aspect or embodiment described herein as "exemplary" is not necessarily to be interpreted as being advantageous over other aspects or embodiments. Instead, the use of the term is intended to exemplify concepts in a concrete way. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is to say, unless otherwise specified or it is not clear from the context, "X uses A or B" is intended to mean any of the natural inclusive permutations. That is to say, if X uses A, uses XB, or uses both A and B, then "X uses A or B" is satisfied by any of the above cases. Furthermore, at least one of A and B and / or the like generally means A or B or both A and B.Furthermore, the articles “ein / eine / einer / eines”, as used in this application and in the attached claims, can generally be interpreted as meaning “one or more”, unless otherwise stated or it is clear from the context that they refer to a singular form.

[0042] Although the subject matter of the invention has been described in terms specific to structural features and / or methodological processes, it is understood that the subject matter of the invention defined in the appended claims is not necessarily limited to the specific features or processes described above. Instead, the specific features and processes described above are disclosed as examples of how the claims can be implemented. Naturally, the person skilled in the art will recognize that many modifications can be made to this configuration without departing from the scope of protection or the concept of the claimed subject matter.

[0043] As used here, a structure, constraint, or element that is "configured" to perform a task or process is formed, specifically structurally designed, constructed, or adapted in a manner appropriate to that task or process. For the sake of clarity, an object that is merely capable of being modified to perform the task or process is not, as used here, "configured" to perform the task or process.

[0044] Various implementation steps are provided here. In an execution, one or more of the described steps may represent computer-readable instructions stored on one or more computer-readable media. When executed by a computing device, these instructions cause the computing device to perform the described steps. The order in which some or all of the operational steps are described should not be interpreted as meaning that these operational steps are necessarily dependent on the described sequence. An alternative arrangement that offers the advantages of this description will be obvious to those skilled in the art. Furthermore, it is understood that not all operational steps are necessarily present in every implementation provided herein.

[0045] Any area or value given here can be expanded or changed without losing the desired effect, as is evident to the expert.

[0046] Although the disclosure has been shown and described with reference to one or more implementations, equivalent modifications and alterations are apparent to the person skilled in the art based on reading and understanding the present description and the attached drawings. The disclosure includes all such modifications and alterations and is limited only by the scope of protection of the following claims. In particular, with regard to the components described above (e.g., elements, resources, etc.).Unless otherwise specified, the terms used to describe such components shall correspond to any component that performs the specified function of the described component (which is, for example, functionally equivalent), even if it is not structurally equivalent to the disclosed structure that performs the function in the exemplary implementations of the disclosure shown herein.

[0047] In this usage, the terms "component," "module," "system," "interface," and the like are generally intended to refer to a computer-related entity, either hardware, a combination of hardware and software, software, or software in execution. A component can be, for example, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. For illustration, both an application running on a controller and the controller itself can be a component. One or more components can reside in a process and / or execution thread, and a component can be localized on one computer and / or distributed between two or more computers.

[0048] Furthermore, the claimed subject matter can be implemented as a method, device, or article of manufacture using standard programming and / or engineering techniques for producing software, firmware, hardware, or any combination thereof for controlling a computer to implement the disclosed subject matter of the invention. The term "article of manufacture," as used here, is intended to include a computer program accessible from any computer-readable device, medium, or media. Of course, the person skilled in the art recognizes that many modifications can be made to this configuration without departing from the scope of protection or the concept of the claimed subject matter.

[0049] Although a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such a feature may, as desired and advantageous for a given or specific application, be combined with one or more other features of the other implementations. Insofar as the terms "include," "exhibit," "have," "with," or variations thereof are used either in the detailed description or in the claims, these terms shall furthermore have an inclusive meaning, similar to the term "comprise."

[0050] The implementations have been described above. It is obvious to those skilled in the art that the above methods and devices can be subject to changes and modifications without deviating from the general scope of protection of the present invention. All such modifications and alterations are included in this invention insofar as they fall within the scope of protection of the attached claims or their equivalents.

Claims

[1] Computer-based system for controlling the speed of an agricultural machine (100), wherein the computer-based system comprises: a vehicle system (210) comprising the following: the agricultural machine (100) which is designed to perform agricultural field work; and one or more containers (202) and implements (800) which are operationally connected to the agricultural machine (100); a control unit (110) designed to: to determine a mass of the vehicle system (210) at a given time, wherein the container (202) comprises the mass which changes dynamically, and wherein the working device (800) comprises a tractive load which changes dynamically; to calculate a stopping distance of the agricultural machine (100) on the basis of one or more of a braking capacity of the agricultural machine (100) using the determined mass of the vehicle system (210) and the tractive load of the implement (800); to determine a maximum speed for the agricultural machine (100) based on the calculated stopping distance; and to regulate the speed of the agricultural machine (100) below the maximum speed and / or to provide the operator with a recommended speed. [2] Computer-aided system according to claim 1, wherein the agricultural machine (100) is one or more consisting of a tractor (200), a harvester, a combine harvester, a sprayer, a seed drill and a planting machine; and wherein the container (202) is one or more consisting of a grain wagon, a grain tank, a grain trailer, a tank boiler, a seed wagon, a seed container, a transport container or a fuel tank. [3] Computer-aided system according to claim 1 or 2, wherein the container (202) is designed to receive the harvested crop (104) from the agricultural machine (100) and to transport the harvested crop (104) during agricultural field use. [4] Computer-aided system according to one of the preceding claims, wherein the stopping distance comprises a pre-programmed stopping distance based on the agricultural field operation being carried out. [5] Computer-aided system according to one of the preceding claims, wherein the mass comprises a weight, wherein the weight represents a combination of the agricultural machine (100) and the container (202), wherein the container (202) comprises contents of the container (202). [6] Computer-aided system according to claim 5, wherein the weight of the contents comprises a measured volume of the container (202) and a density of the contents. [7] Computer-aided system according to one of the preceding claims, wherein the stopping distance comprises calculating an effective stopping distance. [8] Computer-aided system according to one of the preceding claims, wherein the control unit (110) is designed to adjust a maximum speed of the agricultural machine (100) in response to a change in the specified mass of the vehicle system (210). [9] Computer-aided system according to one of the preceding claims, further comprising a perception system comprising at least one sensor (608) with perception data, wherein the perception data changes dynamically based on the environment. [10] Computer-aided system according to any of the preceding claims, wherein the working device (800) comprises a ground-engaging position and a ground-disengaging position, wherein the control unit (110) is designed to adjust a maximum speed of the agricultural machine (100) in response to a change in the position of the working device (800); wherein the control unit (110) is designed to adjust the maximum speed such that it is a faster speed when the working implement (800) is in the ground-engaging position; and to assist in stopping the agricultural machine (100). [11] Computer-aided system according to one of the preceding claims, wherein the dynamically changing mass changes at a faster speed and at a slower speed, wherein the control unit (110) is designed to use a base weight of the vehicle system (210) as a specified mass, wherein the base weight is one of a user-defined value, a factory-defined value or a value received when the agricultural machine (100) is switched on, when the dynamically changing mass changes at a lower speed. [12] Computer-aided system according to one of the preceding claims, wherein the stopping distance of the agricultural machine (100) is further based on one or more terrain conditions. [13] Computer-aided system according to one of the preceding claims, wherein the stopping distance of the agricultural machine (100) is further based on one or more conditions of one or more components of the vehicle system (210). [14] Computer-aided system according to one of the preceding claims, wherein the control unit (110) is designed to provide a warning to an operator that the regulated speed of the agricultural machine (100) is approaching the maximum speed, wherein the warning may consist of one or more audible warnings and visual indicators. [15] Computer-aided system according to one of the preceding claims, wherein the agricultural machine (100) is an autonomous vehicle.

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