Headland turn planning for a work vehicle

A work vehicle guidance system includes a control system that has a controller having a processor and a memory. The control system is configured to determine a relative location of a work vehicle to a work area. Moreover, the control system is configured to determine an end-of-row turn path for the work vehicle based at least on the relative location of the work vehicle and a minimum turning radius of the work vehicle. The end-of-row turn path is configured to direct the work vehicle to turn from a first main swath of the work area to a headland swath of the work area, travel along the headland swath in direction toward a second main swath of the work area, and turn from the headland swath to the second main swath. Further, the control system is configured to output a guidance signal comprising guidance instructions to implement the end-of-row turn path.

BACKGROUND

The disclosure relates generally to a work vehicle guidance system, and more particularly to generating and implementing end-of-row turn paths for a work vehicle.

Work vehicles (e.g., tractors, sprayers, harvesters, etc.) are commonly used in a variety of agricultural tasks (e.g., to tow planters or seeders for planting seeds, to tow spraying implements for applying fertilizer, for harvesting agricultural product, etc.). Traditionally, work vehicles are manually operated by an operator. That is, the steering and speed of the work vehicle is controlled by an operator driving the work vehicle. Recent developments integrating GPS-based navigation systems into work vehicle control systems have enabled automatic or semi-automatic steering and/or speed control of work vehicles. For example, some work vehicles may include a control system configured to automatically direct the work vehicle to follow a path along swaths (e.g., rows) within a main portion of a field. The path may include headland turns between swaths that pass through a headland region of the field. In some fields, agricultural product is planted in both the main portion of the field and the headland region of the field. The headland turn portion of the path may cause the work vehicle to traverse untracked portions of the headland region, which may hinder agricultural product growth in the untracked portions of the headland region. For example, due to the weight of the work vehicle, a path through an untracked portion of the headland region may compact soil in the untracked portion, thereby reducing crop yield in the untracked portion of the headland region.

BRIEF DESCRIPTION

In one embodiment, a work vehicle guidance system includes a control system that has a controller having a processor and a memory. The control system is configured to determine a relative location of a work vehicle to a work area. Moreover, the control system is configured to determine an end-of-row turn path for the work vehicle based at least on the relative location of the work vehicle and a minimum turning radius of the work vehicle. The end-of-row turn path is configured to direct the work vehicle to turn from a first main swath of the work area to a headland swath of the work area, travel along the headland swath in direction toward a second main swath of the work area, and turn from the headland swath to the second main swath. Further, the control system is configured to output a guidance signal comprising guidance instructions to implement the end-of-row turn path.

DETAILED DESCRIPTION

In many agricultural operations, work vehicles are commonly used to perform a variety of tasks (e.g., towing planters or seeders for planting seeds, towing spraying implements for applying fertilizer, harvesting agricultural product, plowing, preparing beds, etc.) within a work area (e.g., agricultural field). The work vehicle may include an agricultural implement (e.g., combines, windrowers, forage harvesters, sugar cane harvesters, etc.), or may tow an agricultural implement.

The work vehicle may also include a control system that guides the work vehicle in the work area along a swath (e.g., row in the agricultural field) and/or along an end-of-row turn (e.g., a path between swaths within the agricultural field). In some work vehicles, end-of-row turns are executed manually. For example, when the work vehicle reaches the end of a first main swath, the operator raises, deactivates, and/or otherwise disengages the agricultural implement; the operator then manually controls the speed and steering of the work vehicle to guide the work vehicle through the end-of-row turn connecting the end of the first main swath to the beginning of a second main swath. The operator then lowers, activates, and/or otherwise engages the agricultural implement, and an automatic or semi-automatic control system guides the work vehicle along the second main swath. Unfortunately, traditional end-of-row turns may hinder crop growth in a headland region. For example, as the work vehicle travels along an untracked portion of a headland region during an end-of-row turn, portions of the work vehicle (e.g., wheels, tracks, etc.) may compact the soil of the untracked headland portion, which may reduce crop yield. In some embodiments, the work agricultural implement may be activated in the headland region to perform work on crops planted in the headland region.

Present embodiments of the control system may generate an end-of-row turn path for the work vehicle that reduces soil compaction in the headland region. The control system may take into account a number of factors (e.g., previous end-of-row turn paths, minimum turning radius, maximum turning rate, starting point, initial heading, speed, fuel consumption, etc.) in determining the end-of-row turn path. The reduced compaction is caused by following a tracked portion of the headland region during an end-of-row turn path. The control system may generate the end-of-row turn path to follow tracked portions of the headland regions formed by previous end-of-row turn paths, based the factors set forth above, to reduce formation of additional tracked portions in the headland region. In some embodiments, the control system may implement the end-of-row turn path (e.g., automatically guide the work vehicle along the end-of-row turn path). Advantages of the disclosed embodiments include the generation of an end-of-row turn path with minimal travel along untracked portions of a headland region, thereby reducing soil compaction in the headland region. As a result, the efficiency of the agricultural operation may be increased.

FIG. 1is a perspective view of an embodiment of an agricultural system10. The agricultural system10includes a work vehicle12and an agricultural implement14. In some embodiments, the agricultural implement14may be towed behind the work vehicle12(e.g., as shown inFIG. 1). In other embodiments, the agricultural implement14may be incorporated into the work vehicle12(e.g., such as a combine, a windrower, a forage harvester, a sugar cane harvester, etc.). The work vehicle12may be any vehicle suitable for towing the agricultural implement14, such as a tractor, off-road vehicle, work vehicle, or the like. In the illustrated embodiment, the work vehicle12includes a cab16, in which an operator sits during operation of the work vehicle12. The cab16may be an open or closed cab16. In another embodiment, the work vehicle does not have a cab. Instead, the work vehicle is remotely controlled. Additionally, the agricultural implement14may be any suitable implement, such as a ground-engaging implement (e.g., a soil conditioner, a tillage implement, a fertilizer application implement, a planter, a seeder, etc.) or a sprayer/applicator, suitable for agricultural use. The agricultural implement14is coupled to the work vehicle12via a hitch18. In one embodiment, the hitch18may be a three-point hitch that rigidly couples the implement14to the vehicle12, and enables the implement14to move upwardly and downwardly. In another embodiment, the implement14may be coupled to the vehicle12via a drawbar, enabling the implement14to move upwardly, downwardly, and to rotate with respect to the vehicle12. However, in other embodiments, the implement14may be coupled to the vehicle12via any suitable system. In some embodiments, the implement14may be coupled to the front of the vehicle12. In the illustrated embodiment, a frame20of the implement14is coupled to the work vehicle12via the hitch18. The work vehicle12is configured to travel over a work area22, such as the ground, a road, a field, or another surface. The work vehicle12is configured to tow the agricultural implement14in a direction of travel24along a path26.

FIG. 2is a block diagram of an embodiment of a control system40of the agricultural system10ofFIG. 1. In the illustrated embodiment, the control system40includes a work vehicle control system42having a vehicle controller30, a navigation system44, a vehicle speed system46, a vehicle steering system48, and a user interface52. However, other embodiments of the control system40may include different elements in alternative combinations.

The vehicle controller30includes a processor54, and a memory device56. The processor54may include one or more general-purpose processors, one or more application specific integrated circuits, one or more field programmable gate arrays, or the like. The memory device56may be any tangible, non-transitory, computer readable medium that is capable of storing instructions executable by the processor54and/or data that may be processed by the processor54. For example, the memory device56may include volatile memory, such as random access memory, or non-volatile memory, such as hard disk drives, read-only memory, optical disks, flash memory, and the like. The memory device56may be configured to store information such as a minimum turning radius of the work vehicle, a rate of change of a steering angle, a maximum speed of the work vehicle, a tire/track size of the work vehicle, a length of the work vehicle, a number of swaths of a main region of the work area, a width and a length of each swath of the main region, a boundary for each swath of the main region, a number of headland swaths, a width and a length of each headland swath, a boundary for each headland swath, etc.

Communication circuitry58is communicatively coupled to the controller30. The communication circuitry58may be configured to output and receive signals from a field controller32and/or a base station controller34. In some embodiments, the vehicle controller40may be configured to determine the end-of-row turn path for the work vehicle based at least in part on a signal90from the base station controller34or the field controller32of the work vehicle control system40. In some embodiments, the field controller32is configured to direct a plurality of work vehicles through the field. As described above, the vehicle control system40includes communications circuitry. The communications circuitry58is configured to establish a communication link with a transceiver92of the base station36, a transceiver of the field controller32, and/or a transceiver of another work vehicle, thereby facilitating communication between the base station controller34/field controller32/other work vehicle and the vehicle controller30of the work vehicle. The communications circuitry58and the transceiver92may operate at any suitable frequency range within the electromagnetic spectrum. For example, in certain embodiments, the communications circuitry and/or transceiver may broadcast and receive radio waves within a frequency range of about 400 MHz to about 6 GHz. In addition, the communications circuitry58and/or transceiver92may utilize any suitable communication protocol, such as a standard protocol (e.g., Wi-Fi, Bluetooth, etc.) or a proprietary protocol.

In the illustrated embodiment, the navigation system44is in direct communication with (e.g., wired to) the vehicle controller30. However, in some embodiments, the navigation system44may be in communication with the vehicle controller30via the communication circuitry58. In the illustrated embodiment, the navigation system includes a spatial locating device60. For example, the spatial locating device60may include a Global Navigation Satellite System (GNSS) receiver configured to receive signals from two or more satellites in orbit (e.g., GPS, GLONASS, Galileo, BeiDou, etc.) to determine the position, heading, speed, etc. of the work vehicle12. The spatial locating device70may include a processor62and a memory component64. The processor62may execute software stored on the memory component64to determine the position of the vehicle. Based on the determined position, the processor62may also determine a vehicle heading, speed, relative location of the work vehicle in the work area, etc. The navigation system44may output a navigation signal66including the vehicle heading, speed, relative location, etc. to the vehicle controller. In some embodiments, the vehicle controller42may determine (e.g., via the processor54) the relative location of the work vehicle in the work area (e.g., relative location to one or more rows or swaths, one or more boundaries, one or more headlands, etc.) based on the navigation signal66. Further, based at least in part on the relative location of the work vehicle, the vehicle controller30may determine the path for the work vehicle along a first main swath and an end-of-row turn path to a second main swath within the main region of the work area.

The vehicle speed system46may control the speed of the work vehicle12in the direction of travel along the path. The vehicle speed system46may be configured to control one or more of the throttle, the clutch, the brakes, and/or the transmission to control the speed of the work vehicle. In the illustrated embodiment, the speed control system46includes an engine output control system70, a transmission control system72, and a braking control system74. The engine output control system70is configured to vary the output of an engine to control the speed of the work vehicle12. For example, the engine output control system70may vary a throttle setting of the engine, a fuel/air mixture of the engine, a timing of the engine, and/or other suitable engine parameters to control engine output. In addition, the transmission control system72may adjust gear selection within a transmission to control the speed of the work vehicle12. For example, the transmission control system72cause changing of gears or a gear ratio of the transmission to control the speed of the work vehicle. The transmission may include a number of fixed gear ratios or a continuously variable gear ratio. Furthermore, the braking control system74may adjust braking force, thereby controlling the speed of the work vehicle12(e.g., slow the work vehicle down at the end of a swath to enable the work vehicle to execute a turn). While the illustrated vehicle speed system46includes the engine output control system70, the transmission control system72, and the braking control system74, alternative embodiments may include any of these systems, in any suitable combination. Further embodiments may include a vehicle speed system46having other and/or additional systems to facilitate adjusting the speed of the work vehicle. The vehicle speed system46may be controlled by the operator in a manual mode of operation. In an automatic or semi-automatic mode of operation, the vehicle speed system46may be controlled automatically or semi-automatically by the vehicle controller30.

The vehicle steering system48may control the direction of travel of the work vehicle. In the illustrated embodiment, the vehicle steering system48includes a wheel angle control system76, a differential braking system78, and a torque vectoring system80. The wheel angle control system76may automatically rotate one or more wheels or tracks of the work vehicle (e.g., via mechanical or hydraulic actuators) to steer the work vehicle along the path. By way of example, the wheel angle control system76may rotate front wheels/tracks, rear wheels/tracks, and/or intermediate wheels/tracks of the work vehicle, either individually or in groups. In some embodiments, the wheel angle control system76may hydraulically actuate the wheels/tracks rather than, or in addition to, mechanically actuating the wheels/tracks (e.g., via gears). A hydraulically actuated wheel angle control system76may enable the work vehicle12to turn without corresponding movement of a steering wheel (or other steering input device) inside the cab during an automatic or semi-automatic drive mode. The differential braking system78may independently vary the braking force on each side of the work vehicle to direct the work vehicle along the path. Similarly, the torque vectoring system80may differentially apply torque from the engine to wheels and/or tracks on each lateral side of the work vehicle, thereby directing the work vehicle along the path. In some embodiments, steering may be accomplished by varying the speed of wheels or tracks on either lateral side of the work vehicle. While the illustrated vehicle steering system48includes the wheel angle control system76, the differential braking system78, and the torque vectoring system80, alternative embodiments may include any of these systems, in any suitable combination. Further embodiments may include a vehicle steering system48having other and/or additional systems to facilitate directing the work vehicle along the path (e.g., an articulated steering system, etc.). The vehicle steering system48may be controlled by the operator in a manual mode of operation. In an automatic or semi-automatic mode of operation, the vehicle steering system48may be controlled automatically by the vehicle controller. For example, in a semi-automatic mode of operation, the steering system48may be automatically controlled by the vehicle controller42, and the speed system46may be controlled by the operator. In a fully automatic mode of operation, both the speed system46and the steering system48may be controlled by the vehicle controller. The vehicle steering system48may configured to receive a guidance signal from the vehicle controller, base station controller, and/or field controller, and automatically steer the work vehicle to implement an end-of-row turn based on the guidance signal.

The user interface52may be disposed inside the cab of the work vehicle and be configured to display information for, and receive inputs from, an operator. In some embodiments, the user interface52and the vehicle controller may be disposed within the same housing. The user interface52includes a display85configured to display information (e.g., instructions to implement the end-of-row-turn) for the operator based at least in part on the guidance signal received from the vehicle controller. The display85may include a screen, an array of LEDs, a series of gauges, a combination thereof, or some other arrangement. The user interface52also includes an operator input device86that enables the operator to input information. The operator input device86may include a keyboard, a series of buttons, a joystick, a mouse, a track pad, etc. In some embodiments, the display85and the operator input86may be a single component (e.g., a touchscreen). In some embodiments, the user interface includes a countdown system configured to indicate a countdown for initiating a turn of the work vehicle at a start of the end-of-row turn path. The countdown system may be displayed via the display85. In another embodiment, the countdown system is configured to output an audible tone or sound, via an audio output device88(e.g., a speaker), to indicate the countdown for the operator.

Based on operator inputs received from the user interface52, from the navigation system44, from other sensors disposed throughout the system40, from inputs stored in the memory device56, or a combination thereof, the vehicle controller30may determine an end-of-row turn path for the work vehicle, and in some embodiments, automatically or semi-automatically control the steering system48and/or the speed system46to guide the work vehicle along the path. For example, the processor54of the vehicle controller30may determine an end-of-row turn path based at least in part on the relative location of the work vehicle received from the navigation system44and a minimum turning radius of the work vehicle received from the memory device56. Further, the processor54may be configured to determine the end-of-row turn path to reduce a distance traveled along untracked portions of the headland region. The vehicle controller30may be configured to output instructions to implement the end-of-row turn, via a guidance signal68, to the vehicle steering system48, the vehicle speed system46, the user interface52, other suitable system(s), or a combination thereof.

In some embodiments, the headland region includes multiple headland swaths, in which crops may be planted in each headland swath. In such embodiments, the vehicle controller30is configured to select a target headland swath for the end-of-row turn. For example, the vehicle controller30may be configured to determine a potential end-of-row turn path for each of the headland swaths, such that each potential path follows a portion of the respective headland swath. To reduce overall soil compaction in the headland region and increase the efficiency of the agricultural operation, the vehicle controller30may be configured select the target headland swath corresponding to a potential end-of-row path that causes the work vehicle to travel along the least amount of untracked work area in the headland region.

FIG. 3is a schematic view of an embodiment of the work vehicle12in a work area22(e.g., field). The work area may be defined by a boundary82. The boundary82may be a physical boundary (e.g., a fence, a creek, a ravine, etc.) or a virtual boundary that defines the work area. The work area22includes a main region96and at least one headland region98. The main region includes swaths84(e.g., rows) in which agricultural product is planted. Though the swaths84depicted inFIG. 3are straight, in some applications, the swaths84may be curved. In some embodiments, curved swaths84may be useful in work areas22having curved boundaries82, curved geographical features, terraces, etc. Furthermore, though the swaths84shown inFIG. 3are parallel to one another, the swaths84need not be parallel to one another to utilize the disclosed techniques. In the illustrated embodiment, the work area22has two headland regions86. The headland regions86(e.g., headlands) are disposed at the ends of the swaths84to facilitate end-of-row turns by the work vehicle12. In some embodiments, the headlands may be disposed in other locations. Each headland86may include multiple headland swaths94that are substantially perpendicular to the swaths84. In some embodiments, the headlands86are used to grow agricultural product along the headland swaths94.

FIG. 4is a schematic view of embodiments of end-of-row turn paths for the work vehicle12. The work vehicle12may be automatically, semi-automatically, or manually controlled by the operator to follow the path26along the first main swath100and the second main swath102of the main region96. Upon reaching an end point104of the first main swath, the work vehicle may execute an end-of-row turn110(e.g., follow an end-of-row turn path112) from the end point104of the first main swath100to a starting point106of the second main swath102of the main region96. However, in some embodiments, the work vehicle12may be configured to execute the end-of-row turn110at a first turn starting point108disposed in the headland region98. In some embodiments, the first turn starting point108is disposed between a center118of a first headland swath120and the end point104of the first main swath100of the main region96. In another embodiment, the first turn starting point108is based on a relative orientation (e.g., perpendicular, eighty degree offset, etc.) of the first headland swath120to the first main swath100. For example, the end-of-row turn path112for a first headland swath120that is perpendicular to the first main swath100causes the vehicle to make a ninety degree turn over the end-of-row turn path112, whereas, the end-of-row turn path112for a first headland swath120that is offset from the first main swath100by eighty degrees only cause the vehicle to make an eighty degree turn over the end-of-row turn path112. In some embodiments, the control system may cause the work vehicle12to turn at a maximum turn angle; however, making a turn at the maximum turn angle for a ninety degree turn will take longer than for an eighty degree turn. Thus, the control system may adjust the starting point108of the end-of-row turn path112for the ninety degree turn to be positioned before the starting point108for the eighty degree turn. The end-of-row turn110may cause the work vehicle12to travel in the headland region98. In some embodiments, the end-of-row turn110causes the work vehicle112to travel along a portion of one or more headland swaths. In another embodiment, the end-of-row turn path112causes the work vehicle12to travel along the one or more headland swaths and turn toward a third main swath126of the main region96.

In some embodiments, the agricultural implement14may be raised, deactivated, or otherwise disengaged, via an implement controller, during the end-of-row turn and/or while the work vehicle12and/or the agricultural implement14travel along the headland region98. The vehicle controller may be configured to output a tool control signal at an end point of a swath (e.g., end point of the first main swath104). The implement controller may be configured to receive the tool control signal and automatically raise, deactivate, or otherwise disengage the agricultural implement14based at least in part of the tool control signal. In another embodiment, the operator may raise, deactivate, or otherwise disengage the agricultural implement via the user interface52. In another embodiment, the vehicle controller is configured to inform the operator of a planned turn, via the user interface52and wait for approval from the operator before automatically implementing the planned turn. The end-of-row turn may include one or more other operator-triggered actions (e.g., varying engine speed, turning PTO off or on, raising markers, folding the implement, turning hydraulic remotes off or on, etc.), some of which may or may not affect the speed of the vehicle12. The work vehicle12then follows the end-of-row turn path112to the starting point106of the second main swath102. The implement14is then lowered, activated, or engaged via the vehicle controller and implement controller, and the work vehicle12proceeds along the second main swath102. In certain embodiments, the implement controller may be omitted and the vehicle controller may control the implement.

As described above, the vehicle controller may determine the end-of-row turn path112from the end point104of the first main swath100or first turn starting point108to the starting point106of a second main swath102of the main region96. The end-of-row turn path112may include a first turn segment130configured to generally direct the work vehicle12to turn from the first main swath100of the main region96to a corresponding headland swath and a second turn segment134configured to direct the work vehicle12to turn from the corresponding headland swath to the second main swath102of the main region96. In some embodiments, the end-of-row turn path112includes a traversing segment132executed by the work vehicle12after the first turn segment130and before the second turn segment134. The traversing segment132is configured to direct the work vehicle12along the corresponding headland swath in a direction generally toward the second main swath102. In some embodiments, the corresponding headland swath is substantially straight; thus, the traversing segment132causes the work vehicle12to move in a substantially straight direction. The traversing segment132may cause the work vehicle12to move along a length of the corresponding headland swath while maintaining the work vehicle12in a centered position with respect to a width116of the corresponding headland swath.

The first turn segment130may have a turning portion140, a transition portion142, and a straightening portion144. The turning portion140is configured to decrease a radius of curvature of the first turn segment130, the transition portion142is configured to maintain a constant radius of curvature of the first turn segment130, and the straightening portion144is configured to increase the radius of curvature of the first turn segment130. In some embodiments, the straightening portion144is configured to increase the radius of curvature of the first turn segment130until the end-of-row path112transitions from turning the work vehicle12to directing the work vehicle12in a substantially straight direction along the traversing segment132.

In some embodiments, the radius of curvature of the first turn segment130is limited by the maximum rate of change of the curvature for the work vehicle12. Although, a lower radius of curvature may turn the work vehicle12at a higher rate than a higher radius of curvature, the radius of curvature may have a minimum radius of curvature based at least in part on the maximum rate of change of the curvature for the work vehicle12. The vehicle controller may receive the maximum rate of change of the curvature for the work vehicle from the memory device and determine the radius of curvature of the first turn segment130based on the maximum rate of change of the curvature for the work vehicle12such that the work vehicle12may be able to implement the first turn segment130.

In some embodiments, the radius of curvature of the first turn segment130is also limited by lateral forces on the work vehicle along the first turn segment130. The lateral forces may cause the work vehicle12to slide and/or tip. The lateral forces are based on the speed of the work vehicle12and the radius of curvature of the first turn segment130. For example, a first turn segment130having a small radius of curvature may cause the work vehicle12to slide out of the end-of-row turn path112into an untracked portion of the headland region98when the work vehicle12is moving above a certain speed. To avoid causing the work vehicle to slide and/or tip, the control system may determine the radius of curvature of the first turn segment130based on the speed of the work vehicle12and the radius of curvature of the first turn segment130.

In some embodiments, the turning portion140may be configured to decrease the radius of curvature based on the maximum rate of change of curvature for the work vehicle12to a minimum radius of curvature for the work vehicle12to reduce a distance sufficient to turn the work vehicle12. Further, the straightening portion144may increase the radius of curvature from the transition portion142to the traversing segment132of the headland swath at the maximum rate of change of curvature for the work vehicle12to reduce the distance sufficient to straighten the work vehicle12(e.g., align the work vehicle with the headland swath). The distance along the transition portion142may be based on the maximum rate of change of curvature for the work vehicle12. For example, a higher maximum rate of change of curvature for the work vehicle12may cause the turning and straightening portions to be shorter and the transition portion to be longer, which reduces the overall distance (e.g., combined distance along the turning portion140, the transition portion142, and the straightening portion144) to turn the work vehicle144. The work vehicle controller may be configured to determine the first turn segment130of the end-of-row path112that has a shortest overall distance sufficient to turn the work vehicle12.

In another embodiment, the work vehicle controller may be configured to determine the first turn segment130of the end-of-row path112having a shortest overall distance sufficient to move the work vehicle12along untracked portion(s) (e.g., portions that the work vehicle has not already moved along or portions that the work vehicle will not move along) of the headland region98and/or work area22. For example, the work vehicle12may have already moved along a portion of the headland region98proximate the first main swath100. Although another potential first turn segment may have a shorter overall distance to turn the work vehicle, the work vehicle controller may determine a different first turn segment to direct the work vehicle12to move along the portion of the headland region98that the work vehicle12has already passed over to reduce the overall distance that the work vehicle12travels along untracked portions of the headland region98.

In some embodiments, the second turn segment134has a second turning portion146, a second transition portion148, and a second straightening portion150. The second turning portion146is configured to decrease a radius of curvature of the second turn segment134, the second transition portion148is configured to maintain a constant radius of curvature of the second turn segment134, and the second straightening portion150is configured to increase the radius of curvature of the second turn segment134. In some embodiments, the second straightening portion150is configured to increase the radius of curvature of the second turn segment134until the end-of-row path112transitions from turning the work vehicle12to directing the work vehicle12in a substantially straight direction along the second main swath102.

In some embodiments, the end-of-row path112has additional turn segments (e.g., third turn segment, etc.). In other embodiments, the end-of-row turn path112has one or more of the first turn segment130, the traversing segment132, and the second turn segment134. For example, the end-of-row turn path112may have only a first turn segment130. In such a path, the straightening portion144of the first turn segment may increase the radius of curvature of the first turn segment130until the end-of-row path112transitions from turning the work vehicle12to directing the work vehicle in a substantially straight direction along the second main swath102.

In some embodiments, the headland region98has multiple headland swaths. To reduce overall soil compaction in the headland region and to increase the efficiency of the agricultural operation, the vehicle controller may be configured to select a first potential end-of-row path that traverses the first headland swath120or a second potential end-of-row path that traverses the second headland swath122based on which potential end-of-row path causes the work vehicle12to travel along the least amount untracked work area22in the headland region98.

In some embodiments, the headland region98is used to grow agricultural crops. As headland swaths94may be tracked by the work vehicle12in the process of working the headland region98, the vehicle controller may not include distance traveled by the work vehicle12along a headland swath94when determining the overall distance traveled by the work vehicle along the untracked work area (i.e., the vehicle controller may not include the traversing segment132when determining the overall distance traveled by the work vehicle along untracked work area). Instead, the vehicle controller may be configured to select the target headland swath124based on which of the potential end-of-row turn paths is configured to cause the work vehicle12to move along a smallest amount of untracked work area in the headland region98during the first turn segment130and the second turn segment134. The work vehicle controller determine that the potential end-of-row turn path is configured to cause the work vehicle to move along the smallest amount of untracked work area based on both current and future untracked work area (e.g., untracked work area after future/planned end-of-row turns paths).

In some embodiments, the vehicle controller is configured to determine a potential end-of-row path114for each of the headland swaths94in the headland region98. The vehicle controller may predict or determine an overall distance travelled along untracked work area for each of the headland swaths94based on information received from the navigation system, the memory device, etc. In some embodiments, the vehicle controller is configured to determine the potential end-of row turn paths114in real-time. However, in other embodiments, the vehicle controller or a remote controller is configured to determine a complete path for the vehicle (e.g., path for the entire work area that includes all end-of-row turns) before the work vehicle12enters the work area22, such that the vehicle controller or the remote controller may determine the overall distance travelled along untracked work areas based on current tracked/untracked work area, as well as predicted tracked/untracked work area. The vehicle controller or the remote controller may select potential end-of-row path based at least in part on which of the headland swaths94has the least overall distance travelled along untracked work area. In another embodiment, the vehicle controller or the remote controller may select the potential end-of-row path based at least in part on which potential end-of-row path has the least overall distance travelled along the untracked work area during the first turn segment130and the second turn segment134. In some embodiments, the work vehicle controller is configured to select the headland swath positioned further away from the main region96when the work vehicle12cannot make a turn to the headland swath closer to the main region96due to soil conditions, the maximum turn rate limit, and/or radius of curvature limit of the work vehicle12. In another embodiment, the work vehicle controller may be configured to select the headland swath positioned further away from the main region so that the agricultural implement14has time to disengage/re-engage between the end point104of the first main swath100and the starting point106of the second main swath102.

As set forth above, in some embodiments, the agricultural implement14may be activated in the headland region98to perform work on crops planted in the headland region98. The agricultural implement14may be activated along the headland swath. The work vehicle controller may be configured cause the work vehicle12to travel along each of the headland swaths94at least once along the complete path for the work vehicle12, such that the agricultural implement14performs work on the crops of each of the headland swaths. Thus, the work vehicle controller may select potential end-of-row turn paths that cause the complete path to have the least overall distance travelled along the untracked work area or the least overall distance travelled along the untracked work area during the first turn segment(s)130while still travelling along each of the headland swaths at least once along the complete path.

FIG. 5is a flow chart of an embodiment of a method152for generating, selecting, and implementing an end-of-row turn for the work vehicle. The method includes the step of (block154) determining, via the navigation system, the relative location of the work vehicle with respect to the work area (e.g., the location of the work vehicle in the field). As discussed above, the work area includes the headland region and a main region, the main region includes multiple main swaths, and the headland region may include multiple headland swaths.

The method further includes the step (block156) of determining, via the control system, a potential end-of-row turn path for the work vehicle for each of the headland swaths based at least on the relative locations of the work vehicle, a current main swath (e.g., the first main swath), each of the headland swaths, and a next main swath (e.g., the second main swath) and the minimum radius of curvature for the work vehicle. Each potential end-of-row turn path has a first turn segment configured to direct the work vehicle to turn from the current main swath of the multiple main swaths to a corresponding headland swath of the headland region, a traversing segment configured to direct the work vehicle to travel along the corresponding headland in a direction toward the next main swath of the multiple main swaths, and a second turn segment configured to direct the work vehicle to turn from the corresponding headland swath to the next main swath.

The method also includes the step of (block158) selecting, via a control system, one of the potential end-of-row turn paths. As discussed above, the vehicle controller may select one of the potential end-of-row turn paths based at least in part on which of the potential end-of-row turn paths has the least overall distance travelled along untracked work area, or may select one of the potential end-of-row turn paths based at least in part on which of the potential end-of-row turn paths has the least overall distance travelled along untracked work area during the first turn segment and the second turn segment. However, in some embodiments, the work vehicle controller may select the potential end-of-row turn paths corresponding to the headland swath positioned further away from the main region96when the work vehicle12cannot make a turn to the headland swath closer to the main region96due to the maximum rate of change of the curvature/or minimum radius of curvature for the work vehicle12. Further, the method includes the step of (block160) implementing the end-of-row turn path corresponding to the selected potential end-of-row turn paths via the vehicle steering system and/or the vehicle speed system of the work vehicle.