A method for controlling a vehicle (100) includes reading-in measurement data about a surface (6) of a substrate (2) lying ahead of the vehicle (100) in its travel direction (F), where the surface contains a ground-level obstacle (4) and recognizing the ground-level obstacle (4) from the measurement data. The method also includes determining a movement vector (V4) of the recognized ground-level obstacle (4) in a vehicle-associated coordinate system on the basis of the measurement data read in and determining a movement vector (V1) of the vehicle (100) in a coordinate system superordinate relative to the vehicle-associated coordinate system. The method further includes checking whether the ground-level obstacle (4) is a dynamic ground-level obstacle (4) in the superordinate coordinate system and emitting a control signal for controlling an operational safety system (30) of the vehicle (100) as a function of the result of the check. Also disclosed is a control unit (200) for carrying out a method of that type and a vehicle (100) with a control unit (200) of that type.

A work vehicle and energy storage device include a ballast providing ballast weight to the horizontal end of the work vehicle, a stator of an electric machine having a vertically extending axis, and a rotor of the electric machine fixed for rotation with the ballast.

An agricultural assistance system including a driver assistance system for controlling one or both of a prime mover and an attachment of an agricultural combination is disclosed. The agricultural assistance system generates control parameters for one or both of the prime mover and the attachment, has a rule interpreter that generates the control parameters by processing rules from sets of rules, and has a rule generator that provides a plurality of sets of rules. The agricultural assistance system executes the rule interpreter as needed on control hardware that is part of one or both of the prime mover or the attachment, and on control hardware that is disposed remote from the combination. The agricultural assistance system has a coordination module for this which, independent of the site at which the rule interpreter is run, coordinates the rule interpreter with the control generator and the driver assistance system.

A control system includes a controller configured to determine a target speed between a first target position of a haul vehicle relative to a harvester and a second target position of the haul vehicle relative to the harvester based on a flow rate of agricultural product through a conveyor of the harvester. The haul vehicle is coupled to a storage compartment, an outlet of the conveyor is aligned with a first unloading point within the storage compartment while the haul vehicle is positioned at the first target position, and the outlet of the conveyor is aligned with a second unloading point within the storage compartment while the haul vehicle is positioned at the second target position. Furthermore, the controller is configured to output a control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at the target speed.

A method for executing multi-mode turns with a work vehicle includes transmitting initial steering and braking commands for controlling an operation of a steering actuator(s) and a steering brake(s), respectively, of the work vehicle to initiate execution of a multi-mode turning operation. The method also includes determining allowable steering and braking rates for the work vehicle based at least in part on an actual steering rate and an actual braking rate, respectively, of the work vehicle during execution of the multi-mode turning operation, and determining updated steering and braking commands based at least in part on the allowable steering and braking rates. In addition, the method includes transmitting the updated steering and braking commands to control the operation of the steering actuator(s) and the steering brake(s), respectively, to continue execution of the multi-mode turning operation.

An example calibration system may include a tractor and a calibration unit. The tractor may include a first sensor and a second sensor. The calibration unit may include a processing unit and a non-transitory computer-readable medium containing instructions to direct the processing unit to: (1) determine a first estimate for a tractor parameter based upon signals received from the first sensor; (2) determine a second estimate for the tractor parameter based upon signals received from the second sensor; (3) determine a third estimate for the tractor parameter based upon a combination of the first estimate and the second estimate; (4) determine a tractor parameter correction based upon the second estimate and the third estimate; and (4) apply the tractor parameter correction to the second sensor to control positioning of the tractor.

An apparatus and method for controlling articulation of an articulated vehicle may prevent jackknifing of the articulated vehicle driven backwards. The apparatus includes a hitch angle calculator configured to calculate a desired hitch angle based on a steering angle and a speed of the articulated vehicle, an error calculator configured to calculate an error between the desired hitch angle and an actual hitch angle of the articulated vehicle, a moment generator configured to generate a moment for controlling the articulation of the articulated vehicle based on the error, and an articulation controller configured to control the articulation of the articulated vehicle based on the moment.

A control system includes one or more processing circuits comprising one or more memory devices coupled to one or more processors. The one or more memory devices are configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to acquire speed data regarding current speeds of tractive elements of the vehicle from tractive element speed sensors of the vehicle, determine speed references for the tractive elements to perform autonomous driving operations where the speed references indicate speeds at which each of the tractive elements should rotate to accommodate the autonomous driving operations, and control at least one of a driveline or a brake system of the vehicle to selectively alter the current speeds of the tractive elements of the vehicle based on the current speeds and the speed references to accommodate the autonomous driving operations.

A control system includes a transmission and a controller configured to receive a vehicle stop command; determine a ground speed; compare the ground speed to first and second predetermined speed thresholds; generate, when the ground speed exceeds the second predetermined speed threshold, a downshift command; generate, when the ground speed is greater than the first predetermined speed threshold and less than or equal to the second predetermined speed threshold, a shuttle shift command; determine, when the ground speed is less than or equal to the first predetermined speed threshold, if the transmission is operating in the first or second mode; select, upon determining the operating mode, a four-square clutch; and at least partially engage the selected four-square clutch to slow or stop the work vehicle.

A steering system for controlling a direction of travel of a work machine includes a steering device controllable by an operator of the work machine. The steering device is coupled to an axle of the work machine for controlling an angular orientation of the wheels. A brake is coupled to the steering device and is controllably applied to apply a first amount of resistance to the steering device. A motor is coupled to the steering device and is controllably activated to apply a second amount of resistance to the steering device. A controller controls the steering system of the work machine in at least a first operating mode and a second operating mode. In the first operating mode, the controller controls the brake between an applied position and an unapplied position, whereas in the second operating mode, the controller controls the motor between an active position and a de-activated position.