Patent ID: 11925132
Assignee: DEERE & COMPANY
Field: Control (Instruments)
Classification: CPC A  G | IPC A  G

Claim 10:
11. An apparatus including:
means for obtaining to obtain input data associated with a vehicle;
means for calculating to calculate, based on the input data, a threshold curvature and a threshold curvature rate of the vehicle; and
means for generating to:
select a first point and a second point on a target path of the vehicle;
generate a first acquisition path from a current position of the vehicle to the first point, the first acquisition path including at least two curves;
generate a second acquisition path from the current position of the vehicle to the second point, the second acquisition path including at least two curves;
determine whether the first acquisition path and the second acquisition path satisfy the threshold curvature and the threshold curvature rate;
in response to the first acquisition path and the second acquisition path satisfying the threshold curvature and the threshold curvature rate, calculate a first path length of the first acquisition path and a second path length of the second acquisition path;
compare the first path length and the second path length to determine which acquisition path is shorter;
cause storage of a shorter acquisition path; and

means for steering to steer the vehicle as it follows the shorter acquisition path.