Patent ID: 6813557
Filing Date: 2004-11-02
Classification: A01B,B62D,G05D

Abstract:
A method of controlling a vehicle comprising:planning a path of a vehicle based on operator input; guiding the vehicle in a first mode based on the planned path; guiding the vehicle in a second mode, distinct from the first mode, where an operator of the vehicle commands or activates at least one of a propulsion system, a braking system, a steering system, and an implement system of the vehicle; detecting the presence of an obstacle that obstructs the planned path of the vehicle if the vehicle is operating in a third mode, mutually exclusive to the first mode and the second mode; guiding the vehicle in a third mode based upon the planned path and the detection of the presence of the obstacle; and selecting at least one of said first mode, second mode, and third mode based upon the operator input.