Patent ID: 9404237
Filing Date: 2016-08-02
CPC Classification: B62D,E02F

Claim Text:
1. A method of assisting a machine operator in controlling a work tool of the machine the method comprising: a controller configured to execute computer-executable instructions read from a non-transient computer-readable medium, the controller configured to perform the steps of the method including; determining that automatic tool control is desired; determining a target machine operating state; detecting an active operator commanded work tool motion; detecting a last operator commanded work tool position; detecting that the machine is operating at a first machine operating state; and based on the detected active operator commanded tool motion and first machine operating state, selecting a work tool control mode, from a first work tool control mode and a second work tool control mode, wherein in the first work tool control mode, manual control of the work tool is maintained except that the work tool is automatically moved to adjust the machine state when an undesirable machine state is detected, and wherein in the second work tool control mode, the work tool position is adjusted to control the machine operating state toward the target machine operating state.