Patent ID: 11904871
Assignee: DEERE & COMPANY
Field: Other special machines (Mechanical engineering)
Classification: CPC B  A  G | IPC A  B  G

Claim 0:
1. An agricultural control system, comprising:
a forward looking condition sensor that, as the agricultural vehicle is performing an operation at a worksite, senses a future condition that the agricultural vehicle will encounter in performing the operation at the worksite and generates a forward-looking sensor signal based on the sensed future condition;
a predictive vehicle model that:
receives the forward looking sensor signal;
obtains a policy map of the worksite that maps a machine trajectory and includes desired machine settings values for the agricultural vehicle at different locations along the machine trajectory; and
generates an expected vehicle response at a future location along the machine trajectory based on the forward looking sensor signal and a desired machine setting value, in the policy map of the worksite, at the future location along the machine trajectory;

a pre-planning system that:
identifies an operator selected control strategy:
obtains a worksite map that maps values of a characteristic to different locations in the worksite; and
generates the policy map based on the operator selected control strategy and the worksite map, wherein the predictive vehicle model obtains the policy map from the pre-planning system;

an adjustment component that:
determines whether an adjustment is to be made to the desired machine setting value, in the policy map of the worksite, at the future location along the machine trajectory based on the expected vehicle response output; and
generates an adjustment output indicative of an adjusted machine setting value based on the determination;

a selector that selects control values based on the adjustment output; and
a control signal generator that generates control signals to control a controllable subsystem based on the control values.