A system that includes an agricultural tractor that includes a steering mechanism for steering at least one surface-engaging member so as to cause changes in a direction of movement of the agricultural tractor; and an agricultural implement that is towed behind the agricultural tractor. The system further includes at least one forward sensor for sensing one or more objects or conditions located forwardly of the agricultural tractor and at least one lateral sensor for sensing one or more objects or conditions that when sensed are located laterally of the agricultural tractor or implement. The system further includes a controller that acts in dependence on at least one output of the at least one lateral sensor to take account of a presence of the one or more objects or conditions sensed by the at least one lateral sensor.

An object identification method is disclosed. The method includes obtaining images of a target geographical area and telemetry information of an image-collection vehicle at a time of capture, analyzing each image to identify objects, and determining a position of the objects. The method further includes determining an image capture height, determining a position of the image using the capture height and the telemetry information, performing a transform on the image based on the capture height and the telemetry information, identifying the objects in the transformed image, determining first pixel locations of the objects within the transformed image, performing a reverse transform on the first pixel locations to determine second pixel locations in the image, and determining positions of the objects within the area based on the second pixel locations within the captured image and the determined image position.

A support system for determining a trajectory to be followed by an agricultural work vehicle when working a field comprises: a mapping unit configured for receiving: i) coordinates relating to the boundaries of a field to be worked; and ii) coordinates relating to the boundaries of one or more obstacles to be avoided the work vehicle; wherein the one or more obstacles being located within the field; a capacity parameter unit configured for receiving one or more capacity parameters relating to the working vehicle; a trajectory calculating unit configured for calculating an optimized trajectory to be followed by the work vehicle; wherein the optimized trajectory is being calculated on the basis of the coordinates received by the mapping unit; and one or more of the one or more capacity parameters received by the capacity parameter unit.

A tipping avoidance system configured to modify operation of a collision avoidance system. The tipping avoidance system may include a payload determination system configured to generate a payload signal, and a load position determination system configured to generate a load position signal. The tipping avoidance system may also include a tipping avoidance controller configured to receive the payload signal and the load position signal, and determine, based at least in part on the payload signal and the load position signal, a minimum stopping distance at or above which the machine will not tip due at least in part to deceleration of the machine from a travel speed to a stopped condition. The tipping avoidance controller may be configured to communicate with a braking controller, such that the braking controller adjusts a stop triggering distance based at least in part on the minimum stopping distance.

A tipping avoidance system configured to modify operation of a collision avoidance system. The tipping avoidance system may include a payload determination system configured to generate a payload signal, and a load position determination system configured to generate a load position signal. The tipping avoidance system may also include a tipping avoidance controller configured to receive the payload signal and the load position signal, and determine, based at least in part on the payload signal and the load position signal, a minimum stopping distance at or above which the machine will not tip due at least in part to deceleration of the machine from a travel speed to a stopped condition. The tipping avoidance controller may be configured to communicate with a braking controller, such that the braking controller adjusts a stop triggering distance based at least in part on the minimum stopping distance.

This work vehicle is provided with an emergency brake function for quickly bringing said work vehicle to an emergency stop when an abnormality has occurred inside of the vehicle. The work vehicle comprises: a foot brake for braking left and right rear wheels; an autonomous travel unit that enables autonomous travel of the vehicle; and an electric actuator for switching the foot brake between a braking state and a release state. The autonomous travel unit comprises a control unit that controls the operation of the electric actuator. When in an autonomous travel mode, the control unit controls the operation of the electric actuator and switches the foot brake from the release state to the braking state when an abnormality is detected inside of the vehicle on the basis of detection information from a vehicle state detection device for detecting the state of each part of the vehicle, or when an emergency stop command is acquired from a wireless communication device set so as to be capable of wireless communication with the autonomous travel unit.

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

There is disclosed a mobile autonomous agricultural system comprising a powered mobile unit, two distance sensors, an attitude sensor, a path determination module and a controller. The powered mobile unit extends from a front end to a back end along a longitudinal axis, and is configured for carrying agricultural equipment and to move along rows of posts along the longitudinal axis. The powered mobile unit comprises a chassis supported by wheel units, each wheel unit comprising a wheel with a suspension assembly. The suspension assembly comprises a suspension unit comprising passive spring around a shock absorber coupled to the wheel, and a linear actuator configured to move the suspension unit relative to the chassis of the mobile unit to thereby move the wheel relative to the chassis independently of the suspension unit. The two distance sensors are disposed on the powered mobile unit, and each configured to sense external objects within two dimensions and the distance of the external objects from the respective distance sensors in opposing front and back directions along the longitudinal axis. The attitude sensor is configured to determine the attitude of the powered mobile unit with respect to the horizontal. The path determination module is configured to: receive distance signals from the distance sensors, identify a row of posts based on the distance signals; and generate a motion trajectory, based on the identified row of posts, for the powered mobile unit to follow. The controller is configured to control the linear extension of the linear actuator of the suspension assembly and the direction of travel of the mobile unit based on the motion trajectory of the path determination module and an output of the attitude sensor, to follow the row of posts and to maintain a horizontal attitude of the powered mobile unit whilst maintaining contact of the wheels with the ground.

A traveling assistance system for an agricultural machine includes a position detector to detect a position of an agricultural machine, a criterion creator to create a determination criterion located forward of the agricultural machine for determination about a turn of the agricultural machine, an area identifier to identify a first area and a second area, the first area being an area in which the agricultural machine travels in a predetermined circumferential direction and the working device performs work, the second area being an area which is a portion of an agricultural field, which is adjacent to the first area, and in which entry of the agricultural machine is prohibited in advance, and a setter to, in a case where the determination criterion is located in the second area, set a turning portion at a position in the first area and between the agricultural machine and the second area.

A traveling assistance system for an agricultural machine includes a position detector to detect a position of an agricultural machine, a criterion creator to create a determination criterion located forward of the agricultural machine for determination about a turn of the agricultural machine, an area identifier to identify a first area and a second area, the first area being an area in which the agricultural machine travels in a predetermined circumferential direction and the working device performs work, the second area being an area which is a portion of an agricultural field, which is adjacent to the first area, and in which entry of the agricultural machine is prohibited in advance, and a setter to, in a case where the determination criterion is located in the second area, set a turning portion at a position in the first area and between the agricultural machine and the second area.