METHODS, APPARATUS, AND ARTICLES OF MANUFACTURE TO DISPLAY ACQUISITION PATHS

Methods, apparatus, systems, and articles of manufacture are disclosed to display acquisition paths. An example apparatus includes a display handler to, in response to a directional condition of an autonomous vehicle satisfying a threshold, render an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path; and a vehicle condition controller to, in response to determining that a real time display criterion is satisfied, redetermine whether the directional condition of the autonomous vehicle satisfies the threshold to cause the display handler to re-render the acquisition path.

FIELD OF THE DISCLOSURE

This disclosure relates generally to vehicle steering, and, more particularly, to methods, apparatus, and articles of manufacture to display acquisition paths.

BACKGROUND

Agricultural vehicles have become increasingly automated. Agricultural vehicles may semi-autonomously or fully-autonomously drive and perform operations on fields using implements for planting, spraying, harvesting, fertilizing, stripping/tilling, etc. These autonomous agricultural vehicles include multiple sensors (e.g., Global Navigation Satellite Systems (GNSS), Global Positioning Systems (GPS), Light Detection and Ranging (LIDAR), Radio Detection and Ranging (RADAR), Sound Navigation and Ranging (SONAR), telematics sensors, etc.) to help navigate without assistance, or with limited assistance, from human users.

The figures are not to scale. In general, the same reference numbers will be used throughout the drawing(s) and accompanying written description to refer to the same or like parts. As used herein, connection references (e.g., attached, coupled, connected, and joined) may include intermediate members between the elements referenced by the connection reference and/or relative movement between those elements unless otherwise indicated. As such, connection references do not necessarily infer that two elements are directly connected and/or in fixed relation to each other.

DETAILED DESCRIPTION

Automation of agricultural vehicles is highly commercially desirable, as automation can improve the accuracy with which operations are performed, reduce operator fatigue, improve efficiency, and accrue other benefits. Some automated vehicles include and/or are otherwise enabled for automation functionality, but the user may need to engage and/or disengage the automation functionality. For example, a user could switch a vehicle into an autonomous mode of operation, but the vehicle would not autonomously drive until the user presses a button or toggles a switch to “engage” automation. As such, the vehicle can be referred to as being in a “standby” autonomous mode of operation when automation is enabled but not engaged and in a “fully” autonomous mode of operation when automation is enabled and engaged. In either standby autonomous mode or fully autonomous mode, a user may be present within the vehicle.

Whether in standby autonomous mode or fully autonomous mode, autonomous vehicles include one or more controllers to ensure that the autonomous vehicles traverse terrain properly. In examples disclosed herein, automated vehicles follow guidance paths when in fully autonomous mode. A controller may have many different modes of operation including an acquisition mode of operation and a tracking mode of operation. As used herein, “tracking,” “tracking mode,” “tracking mode of operation,” and/or their derivatives refer to following and/or tracking a guidance path (e.g., fully autonomous mode). As used herein, “acquisition,” “acquisition mode,” “acquisition mode of operation,” and/or their derivatives refer to operation when the vehicle is travelling to a guidance path, a path, and/or acquiring a position that is substantially similar to (e.g., within one meter of, within a half meter of, within two meters of, etc.) a guidance path. The path a vehicle takes or may take during acquisition mode is referred to herein as “an acquisition path,” and “an acquisition line,” among others.

Guidance paths are used by a navigation and/or location apparatus (e.g., a GNSS receiver) and a controller in tracking mode for a vehicle to follow a prescribed path. In some examples, the prescribed path includes turns, curves, etc., for the vehicle to follow when operating in a field. Conventional controllers, sometimes referred to as guidance systems, allow users of a vehicle to specify a guidance path for the vehicle in the cab. During operation of the controllers (e.g., guidance systems), guidance paths are displayed on a user interface, typically along with the current position of the vehicle relative to the defined paths.

When conventional controllers (e.g., guidance systems) control a vehicle to acquire one of these paths, the user (e.g., vehicle operator) has no knowledge of what trajectory the vehicle will take to approach and line up with (e.g., acquire) the desired path. If the vehicle turns more aggressively than anticipated toward the path, the user can experience discomfort and dissatisfaction. If the vehicle takes longer than the user anticipated to acquire the path, the user may be dissatisfied. In some examples, if a vehicle is located between multiple possible paths, conventional controllers control the vehicle to the incorrect path.

In some examples, a person may perform a qualitative analysis on how well the vehicle acquired the path. For example, the user may give feedback to a vehicle tuning operation (e.g., a mechanic) who then tunes the vehicle to better acquire the path. Additionally or alternatively, the user may manually tune the vehicle to better acquire the path. Example qualitative analysis includes asking questions such as “Did that feel about right?” “Was that too slow?” or “Was that too fast?” However, such “tunable” controllers (e.g., guidance systems) primarily rely on qualitative, subjective, manually collected, metrics to gauge acquisition performance.

Some systems (e.g., AutoTrac™ Turn Automation) display a temporary path when a vehicle transitions from one guidance path to another (e.g., an end-of-pass turn). Such systems update the temporary path in real time (e.g., dynamically) based on changing user settings. For example, the user settings may include the minimum turn radius of the vehicle, aggressiveness settings of the vehicle, skipping paths, etc. For example, a default operation of some turn automation systems is to turn (e.g., right or left) to the immediately adjacent path. Skipping allows a user to select another path (e.g., two paths away from the current path) to which the vehicle will travel. However, existing and conventional guidance systems do not display (e.g., visualize) the transition from the current location (e.g., any location, not on a guidance path, etc.) of a vehicle to a desired guidance path. Additionally, existing and conventional guidance systems do not re-render and/or otherwise update acquisition paths in real time without the interaction of a user. Instead, in such existing and conventional guidance systems, a user must manually press a button or toggle a switch to enable updating paths.

Unlike conventional techniques, examples disclosed herein display one or more temporary paths that update in real time (e.g., dynamically) based on the position of a vehicle relative to a guidance path (e.g., a desired path). Examples disclosed herein include a system and method for visualizing to a user a generated path (e.g., an acquisition path) from the current location of a vehicle to a selected (e.g., desired) guidance path. Examples disclosed herein describe how acquisition paths are presented to the vehicle user (e.g., operator) as well as how acquisition paths are updated in real time. Examples disclosed herein include a system and method to update acquisition paths in real time to show the user how the trajectory of the vehicle changes based on conditions of the vehicle including heading error, vehicle speed, and direction of travel of the vehicle. Examples disclosed herein allow vehicle users to see where the vehicle will travel when steering automation is engaged. Examples disclosed herein, update (e.g., regenerate) the acquisition path (e.g., planned trajectory) in real time to continually reflect the current position of the vehicle relative to the guidance path (e.g., desired path) before the user engages automation. Examples disclosed herein allow vehicle users (e.g., operators) to easily discern the acquisition path (e.g., planned acquisition trajectory) to the guidance path (e.g., desired path).

FIG. 1is a schematic illustration of an example first vehicle102aincluding an example vehicle control network104aand an example second vehicle102bincluding an example vehicle control network104b. Each of the vehicle control network104a,104bguide the first vehicle102aand the second vehicle102b, respectively. The first vehicle102aincludes the vehicle control network104a, an example location sensor105a, an example user display106a, an example front wheel108a, and an example rear wheel110a. The second vehicle102bincludes the vehicle control network104b, an example location sensor105b, an example user display106b, an example front wheel108b, and an example rear wheel110b.

As illustrated and described herein, the structure and/or function of any one of the vehicle control network104b, the location sensor105b, the user display106b, the front wheel108b, and/or the rear wheel110b, may be the same as the corresponding component on the first vehicle102a. Therefore, for example, description and/or illustration associated with the user display106aof the first vehicle102acan be considered to apply equally to the user display106bof the second vehicle102b. As used herein, when referring to “the vehicle102,” it is to be understood that the description and/or illustration applies to both the first vehicle102aand the second vehicle102b. Similarly, when referring to any one or more of the components of the first vehicle102aor the second vehicle102b, if a component is discussed (e.g., the vehicle control network104, the location sensor105, the user display106, the front wheel108, the rear wheel110, etc.), it is to be understood that the illustration and/or description applies to these respective parts on both of the first vehicle102aand the second vehicle102b.

In the example illustrated inFIG. 1, the first vehicle102ais a tractor and the second vehicle102bis a cotton stripper. The first vehicle102aand the second vehicle102bmay be any type of vehicle (e.g., a tractor, front loader, harvester, cultivator, or any other suitable vehicle) configured to track a projected path and/or curved path. For example, the first vehicle102amay be a tractor capable of automatically tracking a row of crops to harvest the row of crops. The first vehicle102aand/or the second vehicle102bmay be a front wheel steer vehicle or a rear wheel steer vehicle. As used herein, a front wheel steer vehicle steers by rotating its front wheels, (such as the front wheel108a), while a rear wheel steer vehicle steers by rotating its rear wheels (such as the rear wheel110b). In some examples, the vehicle102may be implemented as an articulated vehicle which includes a different steering system as compared to front wheel and/or rear wheel steer vehicles. In examples disclosed herein, the vehicle102is equipped with the vehicle control network104to control and/or otherwise command the vehicle102to acquire and/or track a predetermined path. The vehicle control network104is explained in further detail below.

In the illustrated example ofFIG. 1, the example user display106is implemented by a Generation 4 CommandCenter™ Display. In additional or alternative examples, the user display106may be implemented by a liquid crystal display (LCD) touch screen such as a tablet, a computer monitor, etc. In the example ofFIG. 1, the user display106is an interactive display on which a user may select and/or enter desired inputs (e.g., select a screen display, enter desired vehicle speed, enter aggressiveness variables, select the sampling interval, power on and/or off the vehicle, etc.) before, during, and/or after operation of the vehicle102. Additionally, the example user display106is utilized to display the prescribed path to a user operating the vehicle102. The user display106can also display navigation path data and/or vehicle location data.

For example, the user display106displays various guidance paths (e.g., prescribed paths) that the vehicle102can acquire. The user display106also displays the acquisition path by which the vehicle102may acquire the guidance path. Various examples of user interfaces displayed on the user display106are illustrated and described in connection withFIGS. 3-12.

In the illustrated example ofFIG. 1, the first vehicle102ais implemented as a front wheel steer vehicle. As such, the first vehicle102aturns in response to a rotation of the front wheel108a. For example, if the user or an autonomous driving system decides to turn left, the front wheel108ais rotated to the left. The second vehicle102bis implemented as a rear wheel steer vehicle. As such, the second vehicle102bturns in response to a rotation of the rear wheel110b. In examples disclosed herein, the front wheels108a, bare located on a front wheel axle with one or more additional corresponding front wheels. Likewise, in examples disclosed herein, the rear wheels110a, bare located on a rear wheel axle with one or more additional corresponding rear wheels.

In the illustrated example ofFIG. 1, the vehicle control network104includes an example vehicle data interface112, an example navigation manager114, an example guidance controller116, an example display controller118. In the example ofFIG. 1, the guidance controller116generates example steering commands120. In the example ofFIG. 1, the display controller118generates example display commands122. In the example ofFIG. 1, any of the vehicle data interface112, the navigation manager114, the guidance controller116, and/or the display controller118can communicate via an example communication bus124.

In examples disclosed herein, the communication bus124may be implemented using any suitable wired and/or wireless communication. In additional or alternative examples, the communication bus124includes software, machine readable instructions, and/or communication protocols by which information is communicated among the vehicle data interface112, the navigation manager114, the guidance controller116, and/or the display controller118.

In the illustrated example ofFIG. 1, the vehicle data interface112is implemented by a processor executing instructions. In additional or alternative examples, the vehicle data interface112can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), graphics processing unit(s) (GPU(s)), digital signal processor(s) (DSP(s)), application specific integrated circuit(s) (ASIC(s)), programmable logic device(s) (PLD(s)), and/or field programmable logic device(s) (FPLD(s)). In additional or alternative examples, the vehicle data interface112may be implemented by a memory, such as that described in connection withFIG. 14.

In the illustrated example ofFIG. 1, the vehicle data interface112provides information to the guidance controller116and/or the display controller118corresponding to vehicle data, such as measurements of vehicle parts, distances between relative areas of vehicle, etc. In some examples, the vehicle data interface112may include preset and/or predetermined values, measurements, distances, of the vehicle102. The example vehicle data interface112may accept user input before operation of the vehicle102can occur, to correctly operate in tracking mode. In additional or alternative examples, the vehicle data interface112receives a notification from the guidance controller116and/or the display controller118when the guidance controller116and/or the display controller118requests vehicle data to determine steering commands120and/or display commands122, respectively.

In the illustrated example ofFIG. 1, the navigation manager114is implemented by a processor executing instructions. In additional or alternative examples, the navigation manager114can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), GPU(s), DSP(s), ASIC(s), PLD(s), and/or FPLD(s). In the example ofFIG. 1, the navigation manager114accesses navigation data from the location sensor105.

In the illustrated example ofFIG. 1, the navigation manager114accesses navigation path data indicating one or more paths (e.g., guidance paths) that the vehicle102is to follow to perform a field operation. In some examples, the navigation manager114accesses current location data corresponding to a location of the location sensor105. The navigation manager114communicates navigation and/or location data to the guidance controller116and/or the display controller118.

In some examples, the location sensor105is part of (e.g., integrated with) the vehicle control network104. In some examples the location sensor105is located separate from the vehicle control network104on the vehicle102. However, even when the location sensor105is separate from the vehicle control network104, it is still in communication (e.g., wired or wirelessly) with the vehicle control network104.

In the illustrated example ofFIG. 1, the location sensor105aon the first vehicle102a(e.g., a front wheel steer vehicle) is positioned between the rear wheel110aand the front wheel108a(e.g., between the front axle and the rear axle). In the example ofFIG. 1, the location sensor105bon the second vehicle102b(e.g., a rear wheel steer vehicle) is located closer to a front end of the vehicle than the front wheel108bor the front axle. In other examples, the location sensor105may be located at any position on the vehicle102and/or may be integrated with another component (e.g., the navigation manager114).

In the illustrated example ofFIG. 1, the location sensor105is implemented by a GNSS receiver. In additional or alternative examples, the location sensor105may be implemented by a GNSS receiver controller, a GPS receiver, a GPS receiver controller, and/or any other component capable of sensing and/or determining location information. In the example ofFIG. 1, the location sensor105communicates with the navigation manager114, the guidance controller116, and/or the display controller118to provide and/or otherwise transmit a geographical location of the vehicle102and/or navigation path data. In some examples disclosed herein, the location sensor105samples the geographical location of the vehicle102at a threshold interval. For example, every 0.1 seconds, the location sensor105may send the geographical location of the vehicle102to the vehicle control network104. In examples disclosed herein, the location sensor105may communicate with the guidance controller116and/or the display controller118to obtain the guidance path (e.g., the desired path) along which the vehicle102is to travel. For example, the location sensor105may obtain the guidance path after a user has selected the guidance path via the user display106.

In some examples, the location sensor105determines when the vehicle102is approaching a curved path based on navigation path data and provides a signal, notification, etc., to the vehicle control network104. For example, the location sensor105may include a memory which receives and stores data corresponding to predetermined path information (e.g., guidance path data) along which the vehicle102is to travel to keep the location sensor105on the predetermined path. In some examples, the location sensor105is in communication with the guidance controller116and/or the display controller118to provide location data and/or predetermined path data for the guidance controller116and/or the display controller118(e.g., via the navigation manager114).

During tracking mode, the vehicle control network104calculates a lateral error of the vehicle102, a heading error of the vehicle102, a rate of change of the heading error of the vehicle102, and a path curvature measurement of the vehicle102. In the example ofFIG. 1, during tracking mode the vehicle102may or may not be at the geographical location corresponding to a portion (e.g., a curved portion, a straight portion, and/or a starting position) of a guidance path. As such, the vehicle control network104may calculate the lateral error.

In some examples disclosed herein, lateral error refers to the shortest distance between a location sensor and a desired path (e.g., a guidance path). In additional or alternative examples, lateral error may be defined as the distance perpendicular to a desired path from a location sensor. In some examples disclosed herein, the heading of the vehicle102, also referred to as the yaw of the vehicle102, is defined as the direction in which the vehicle102is pointing. For example, the heading can be drawn by a straight line, starting from the front of the vehicle102and extending in the direction the vehicle is traveling. In some examples disclosed herein, heading error refers to a difference between a line tangent to a navigation curve at a current location of a location sensor and a current heading (directional orientation) of a vehicle. For example, heading error can be defined as the distance or angle between a tangent line and a prescribed path, a specific location, and/or the actual heading of the vehicle.

In some examples disclosed herein, path curvature refers to the curvature of a path which a vehicle (e.g., the vehicle102) is to follow. The path curvature is predetermined, before the vehicle is in motion and performing an operation (e.g., seeding, fertilizing, etc.). The navigation path data includes the path curvature and is stored for use by the example guidance controller116when determining the commanded steering angle, the lateral error offset adjustment, and the heading error offset adjustment that causes the vehicle102to follow a prescribed curved path. The path curvature may also be accessed by the display controller118when generating the display commands122.

In the illustrated example ofFIG. 1, guidance controller116is implemented by a processor executing instructions. In additional or alternative examples, the guidance controller116can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), GPU(s), DSP(s), ASIC(s), PLD(s), and/or FPLD(s). In the example ofFIG. 1, the guidance controller116calculates a wheel steering angle (e.g., a front wheel steering angle for the first vehicle102aand/or a rear wheel steering angle for the second vehicle102b), the lateral error offset adjustment value, and/or a heading error offset adjustment value to cause the vehicle102(more specifically, the location sensor105of the vehicle102) to follow a predetermined path represented in navigation data.

In some examples disclosed herein, the wheel steering angle is a numerical value representative of the angular measurement (e.g., 14 degrees, negative 30 degrees, etc.) to apply the front wheel108a(e.g., for the first vehicle102a) or the rear wheel110b(e.g., for the second vehicle102b). The guidance controller116of the illustrated example outputs one or more example steering commands120to cause the steering wheels of the vehicle102to move to keep the location sensor105on a predetermined path. In some examples disclosed herein, a wheel angle command, steering angle command, feedforward wheel angle command, etc., refers to a control signal that specifies the angle at which the wheels of the vehicle should turn to follow a prescribed path.

In some examples, the guidance controller116attempts to drive all errors (e.g., lateral error, heading error, etc.) errors relative to a prescribed path to zero with the use of guidance controller gains to force the location sensor105to precisely follow the prescribed path. For example, when the errors are zero (e.g., within a threshold of zero), the location sensor105is considered to be accurately following the prescribed path. In some examples, the guidance controller116transmits the one or more steering commands120to a steering apparatus on the vehicle102. For example, the guidance controller116transmits steering commands to a front wheel steering apparatus of the first vehicle102a. Similarly, the guidance controller116transmits steering commands to a rear wheel steering apparatus of the second vehicle102b.

In the illustrated example ofFIG. 1, the display controller118is implemented by a processor executing instructions. In additional or alternative examples, the display controller118can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), GPU(s), DSP(s), ASIC(s), PLD(s), and/or FPLD(s). In the example ofFIG. 1, manages the display of one or more acquisition paths and/or one or more guidance paths on the user display106.

In the illustrated example ofFIG. 1, based on at least lateral error of the vehicle102, heading error of the vehicle102, heading of the vehicle102, speed of the vehicle102, and/or whether fully autonomous mode is engaged for the vehicle102, the display controller118generates one or more display commands122to display, update, and/or otherwise render one or more acquisition paths. Additionally, the display controller118may display one or more guidance paths based on navigation path data and/or guidance path data accessed from the location sensor105and/or the navigation manager114. Additional detail of the display controller118is illustrated and discussed in connection withFIG. 2.

FIG. 2is a block diagram showing additional detail of the display controller118ofFIG. 1. The display controller118includes an example communication processor202, an example display handler204, and an example vehicle condition controller206. In the example ofFIG. 2, one or more of the communication processor202, the display handler204, or the vehicle condition controller206may be implemented as instructions (e.g., software) executing on a processor, such as the processor1412ofFIG. 14. In the example ofFIG. 2, any of the communication processor202, the display handler204, and/or the vehicle condition controller206can communicate via an example communication bus208.

In examples disclosed herein, the communication bus208may be implemented using any suitable wired and/or wireless communication. In additional or alternative examples, the communication bus208includes software, machine readable instructions, and/or communication protocols by which information is communicated among the communication processor202, the display handler204, and/or the vehicle condition controller206.

In the illustrated example ofFIG. 2, the communication processor202is implemented by instructions executing on a processor. In additional or alternative examples, the communication processor202can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), GPU(s), DSP(s), ASIC(s), PLD(s) and/or FPLD(s). The example communication processor202functions as a network interface structured to communicate with other devices (e.g., other components of the vehicle control network104and/or the vehicle102) with a designated physical and data link layer standard.

In the illustrated example ofFIG. 2, the communication processor202monitors the user display106and/or other buttons and/or switches within the cab of the vehicle102to determine whether a user has placed the vehicle control network104in standby autonomous mode or in fully autonomous mode. Additionally, the communication processor202monitors the user display106to determine whether a user has selected a guidance path to acquire.

In some examples, the communication processor202implements example means for processing communications. The communication processing means is implemented by executable instructions such as that implemented by at least blocks1310,1318,1338, and1342ofFIG. 13. The executable instructions of blocks1310,1318,1338, and1342ofFIG. 13may be executed on at least one processor such as the example processor1412ofFIG. 14. In other examples, the communication processing means is implemented by hardware logic, hardware implemented state machines, logic circuitry, and/or any other combination of hardware, software, and/or firmware.

In the illustrated example ofFIG. 2, the display handler204is implemented by instructions executing on a processor. In additional or alternative examples, the display handler204can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), GPU(s), DSP(s), ASIC(s), PLD(s) and/or FPLD(s). The display handler204is configured to control the display and/or generation of one or more representations of a vehicle, one or more representations of an implements, one or more guidance paths, and/or one or more acquisitions paths. These representations and/or paths are rendered within a user interface displayed on the user display106. The representations are rendered relative to one or more guidance paths displayed on display handler204.

In the illustrated example ofFIG. 2, the display handler204is configured to display and/or otherwise render one or more guidance paths on the user display106. For example, the display handler204accesses guidance paths from the navigation path data via the navigation manager114. In the example ofFIG. 2, the display handler204also displays the location of the vehicle102and/or any implements that may be attached to the vehicle102with respect to the guidance paths. For example, the display handler204renders a representation of the vehicle102and/or a representation of any implements attached to the vehicle102. In the example ofFIG. 2, the display handler204displays, renders, and/or otherwise generates a representation of one or more acquisitions paths based on one or more determinations made by the vehicle condition controller206.

In the illustrated example ofFIG. 2, the display handler204renders acquisition paths for vehicles as dashed lines in the same color as the respective guidance paths to be acquired. For example, if a guidance path to be acquired is white, the display handler204renders the acquisition path for the vehicle102as a dashed white line. In examples disclosed herein, acquisition paths are dashed to indicate to the user of the vehicle102that the paths are temporary. As such, examples disclosed herein, allow a user to distinguish between acquisition paths and guidance paths. For acquisition paths for implements, the display handler204renders the acquisition paths as dashed lines in the same color as the representation of the implement. In some examples, the display handler204renders acquisition paths of implements in the same color as the respective guidance paths for the implements. In additional or alternative examples, the display handler204may render the acquisition paths according to another pattern different than dashed lines (e.g., dotted, solid, dashed-dotted, etc.).

In the illustrated example ofFIG. 2, the display handler204renders acquisition paths differently depending on whether the vehicle control network104is in standby autonomous mode or in fully autonomous mode. For example, if the vehicle control network104is in standby autonomous mode, the display handler204regenerates and/or otherwise updates acquisition paths in real time and/or based on one or more triggers (e.g., real time display criteria). In some examples, the display handler204updates acquisition paths based on real time display criteria such as after a timer expires. For example, the display handler204can update acquisition paths every 200 milliseconds (ms).

Additionally or alternatively, the display handler204updates acquisition paths based on real time display criteria such as a relative change in the position of the vehicle102. For example, the display handler204updates acquisition paths based on a distance traveled by the vehicle102(as compared to a threshold) and a change in the heading of the vehicle102(as compared to a threshold), among others. Other triggers are possible. In some examples, the display handler204does not render acquisition paths until the vehicle102is placed in a fully autonomous mode of operation.

Alternatively, in the illustrated example ofFIG. 2, if the vehicle control network104is in fully autonomous mode, the display handler204generates an acquisition path for the vehicle102and/or any attached implements and generally does not update the acquisition path(s) as the vehicle102acquires the selected guidance path. In such examples, after the vehicle102acquires the selected guidance path, the display handler204updates the rendering of the acquisition path(s) (e.g., no longer displays the acquisition path(s)). In some examples, the display handler204does not render acquisition paths at all, but the guidance controller116continues to determine real time updates to the acquisition path that are used to steer the vehicle102.

In some examples, when the vehicle control network104is in fully autonomous mode, the display handler204will update the rendering of acquisition paths. For example, if the lateral error of the vehicle102exceeds (e.g., satisfies) a lateral error threshold, the display handler204updates the rendering of acquisition paths. As such, if the guidance controller116recomputes the acquisition path due to poor acquisition performance (e.g., due to vehicle slippage), the display handler204communicates the updated acquisition path to the user in real time.

Additionally or alternatively, if the speed of the vehicle102changes by a threshold amount (e.g., a speed change of the vehicle102exceeds (e.g., satisfies) a speed change threshold), the display handler204updates the rendering of acquisition paths. As such, if the original acquisition path calculated by the guidance controller116is recalculated due to steering limitations of the vehicle102, the display handler204communicates the recalculated acquisition path to the user in real time. Additionally or alternatively, if the direction of travel of the vehicle102changes (e.g., from forward to reverse, reverse to forward, left to right, right to left, etc.), the display handler204updates the rendering of acquisition paths. Other criteria are possible for updating the rendering of the acquisition paths when in a fully autonomous mode of operation.

In some examples, the display handler204determines that one or more acquisition paths are not to be displayed. For example, if the vehicle control network104is in standby autonomous mode and the vehicle102is in a position from which a feasible acquisition path cannot be calculated (e.g., by the guidance controller116), the display handler204will not render an acquisition path. For example, the guidance controller116determines an acquisition path when the vehicle102is within a threshold distance of a guidance path. However, in examples disclosed herein, there is a section between guidance paths that is outside of the threshold distance for either guidance path. As such, this section can be referred to as a “no man's land” between guidance paths. Conditions that can cause the display handler204to determine not to render an acquisition path (sometimes referred to as error conditions) include the vehicle102having a lateral error that is greater than (e.g., satisfies) a first lateral error threshold (e.g., within the no man's land) and the vehicle102having a heading error greater than (e.g., satisfies) a heading error threshold, among others. Other criteria for not displaying acquisition paths are possible.

In the illustrated example ofFIG. 2, the display handler204generates acquisitions for implements when guidance information is available for the implement. For example, in the case of implements, guidance information includes implement dimensions (e.g., working width, tongue length, etc.), lateral error, heading error, speed (e.g., of the vehicle and/or implement), heading (e.g., of the vehicle and/or implement), among others. Examples disclosed herein determine a minimum turn radius of the implement based on the implement dimensions. In some examples, the display handler204renders acquisitions paths for implements based on guidance information for the implement that is imputed based on guidance information for the vehicle102. For example, in the case of vehicles, guidance information includes minimum turn radius, lateral error, heading error, speed (e.g., of the vehicle and/or implement), heading (e.g., of the vehicle and/or implement), among others.

In some examples, the display handler204implements example means for displaying paths. The path displaying means is implemented by executable instructions such as that implemented by at least blocks1302,1306,1308,1316,1320,1324,1326,1334, and1340ofFIG. 13. The executable instructions of blocks1302,1306,1308,1316,1320,1324,1326,1334, and1340ofFIG. 13may be executed on at least one processor such as the example processor1412ofFIG. 14. In other examples, the path displaying means is implemented by hardware logic, hardware implemented state machines, logic circuitry, and/or any other combination of hardware, software, and/or firmware.

In the illustrated example ofFIG. 2, the vehicle condition controller206is implemented by instructions executing on a processor. In additional or alternative examples, the vehicle condition controller206can be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), GPU(s), DSP(s), ASIC(s), PLD(s) and/or FPLD(s). The vehicle condition controller206is configured to determine the conditions of the vehicle102. Additionally, the vehicle condition controller206is configured to determine the position and/or heading of the vehicle102relative to one or more guidance paths. For example, the vehicle condition controller206determines whether a condition of the vehicle102satisfies a threshold. For example, conditions of the vehicle102include at least one of lateral error of the vehicle102, heading error of the vehicle102, and/or speed change of the vehicle102.

In the illustrated example ofFIG. 2, the vehicle condition controller206is configured to determine whether one or more implements are attached to the vehicle102and whether guidance information for such implements is available. Based on such a determination, the display handler204displays one or more representations of the vehicle102and/or one or more representations of implements attached to the vehicle102. For example, if the vehicle condition controller206determines that an implement is attached to the vehicle102, the display handler204displays a representation of the vehicle102and any attached implements. Likewise, if the vehicle condition controller206determines that no implements are attached to the vehicle102, the display handler204displays a representation of the vehicle102.

In the illustrated example ofFIG. 2, the vehicle condition controller206determines whether the lateral error of the vehicle102is greater than (e.g., satisfies) a first lateral error threshold and/or a second lateral error threshold. The comparison between the lateral error and the first lateral error threshold allows the vehicle condition controller206to determine if the vehicle102is within no man's land. In response to the vehicle condition controller206determining that the lateral error of the vehicle102exceeds (e.g., satisfies) the first lateral error threshold, the display handler204does not render the acquisition path.

In the illustrated example ofFIG. 2, the comparison between the lateral error and the second lateral error threshold allows the vehicle condition controller206to determine if the vehicle102has moved outside of the second lateral error threshold such that if the originally calculated acquisition path is followed, the vehicle102will no longer acquire the selected guidance path but instead will be offset from the selected guidance path. For example, the vehicle condition controller206compares the lateral error between the vehicle102and the acquisition path to the second lateral error threshold. In response to the vehicle condition controller206determining that the lateral error of the vehicle102exceeds (e.g., satisfies) the second lateral error threshold, the display handler204updates the rendering of the acquisition path based on an updated acquisition path calculated by the guidance controller116.

In the illustrated example ofFIG. 2, the vehicle condition controller206determines whether the heading error of the vehicle102is greater than (e.g., satisfies) a heading error threshold. The comparison between the heading error and the heading error threshold allows the vehicle condition controller206to determine if the vehicle102is in a position where a feasible acquisition path cannot be generated. In response to the vehicle condition controller206determining that the heading error of the vehicle102exceeds (e.g., satisfies) the heading error threshold, the display handler204does not render the acquisition path.

In the illustrated example ofFIG. 2, the vehicle condition controller206determines whether the change in the speed of the vehicle102is greater than (e.g., satisfies) a speed change threshold. For example, the guidance controller116calculates acquisition paths based on the speed of the vehicle102. Thus, if the speed change exceeds (e.g., satisfies) the speed change threshold the vehicle102may not acquire the selected guidance path if the originally calculated acquisition path is followed. In response to the vehicle condition controller206determining that the speed change of the vehicle102exceeds (e.g., satisfies) the speed change threshold, the display handler204updates the rendering of the acquisition path based on an updated acquisition path calculated by the guidance controller116.

In the illustrated example ofFIG. 2, the vehicle condition controller206determines whether the vehicle102has changed directions. For example, the guidance controller116calculates acquisition paths based on the direction of travel (e.g., forward, reverse, etc.) of the vehicle102. Thus, if the direction of travel of the vehicle changes, the vehicle102may not acquire the selected guidance path if the originally calculated acquisition path is followed. In the example ofFIG. 2, the vehicle condition controller206determines whether the vehicle102has changed directions based on a shift in the gears of the vehicle102. For example, the vehicle102may shift from a forward gear to a reverse gear or vice versa. In response to the vehicle condition controller206determining that the vehicle102has changed directions, the display handler204updates the rendering of the acquisition path based on an updated acquisition path calculated by the guidance controller116.

In the illustrated example ofFIG. 2, in some examples, the vehicle condition controller206determines whether the vehicle102has changed directions by comparing the heading error of the vehicle102to a second heading error threshold. In response to the vehicle condition controller206determining that the heading error of the vehicle102exceeds (e.g., satisfies) the second heading error threshold, the display handler204updates the rendering of the acquisition path based on an updated acquisition path calculated by the guidance controller116.

In some examples, the vehicle condition controller206implements example means for determining vehicle conditions. The vehicle condition determining means is implemented by executable instructions such as that implemented by at least blocks1304,1312,1314,1322,1328,1330,1332, and1336ofFIG. 13. The executable instructions of blocks1304,1312,1314,1322,1328,1330,1332, and1336ofFIG. 13may be executed on at least one processor such as the example processor1412ofFIG. 14. In other examples, the vehicle condition determining means is implemented by hardware logic, hardware implemented state machines, logic circuitry, and/or any other combination of hardware, software, and/or firmware.

While an example manner of implementing the display controller118ofFIG. 1is illustrated inFIG. 2, one or more of the elements, processes and/or devices illustrated inFIG. 2may be combined, divided, re-arranged, omitted, eliminated and/or implemented in any other way. Further, the example communication processor202, the example the display handler204, the example vehicle condition controller206and/or, more generally, the example display controller118ofFIGS. 1 and/or 2may be implemented by hardware, software, firmware and/or any combination of hardware, software and/or firmware. Thus, for example, any of the example communication processor202, the example the display handler204, the example vehicle condition controller206and/or, more generally, the example display controller118ofFIGS. 1 and/or 2could be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), graphics processing unit(s) (GPU(s)), digital signal processor(s) (DSP(s)), application specific integrated circuit(s) (ASIC(s)), programmable logic device(s) (PLD(s)), and/or field programmable logic device(s) (FPLD(s)). When reading any of the apparatus or system claims of this patent to cover a purely software and/or firmware implementation, at least one of the example communication processor202, the example the display handler204, the example vehicle condition controller206and/or, more generally, the example display controller118ofFIGS. 1 and/or 2is/are hereby expressly defined to include a non-transitory computer readable storage device or storage disk such as a memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc. including the software and/or firmware. Further still, the example display controller118ofFIGS. 1 and/or 2may include one or more elements, processes and/or devices in addition to, or instead of, those illustrated inFIG. 2, and/or may include more than one of any or all of the illustrated elements, processes and devices. As used herein, the phrase “in communication,” including variations thereof, encompasses direct communication and/or indirect communication through one or more intermediary components, and does not require direct physical (e.g., wired) communication and/or constant communication, but rather additionally includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals, and/or one-time events.

FIG. 3is a schematic illustration of an example acquisition path displayed on an example user interface300in accordance with the teachings of this disclosure. The user interface300includes an example first guidance path302, an example second guidance path304, an example third guidance path306, an example vehicle representation308, an example implement representation310, and an example acquisition path312. In the example ofFIG. 3, the user interface300illustrates a scenario in which a user has selected the first guidance path302as a desired path for the vehicle102to acquire.

In the illustrated example ofFIG. 3, the first, second, and third guidance paths302,304, and306represent paths along which the vehicle102may travel to tend to a field. In the example ofFIG. 3, the vehicle representation308is rendered by the display handler204to represent the location of the vehicle102with respect to the first guidance path302. The implement representation310is rendered by the display handler204to represent the location of an implement attached to the vehicle102with respect to the first guidance path302.

In the illustrated example ofFIG. 3, the acquisition path312represents a path along which the vehicle102is to travel to acquire the first guidance path302from the current location of the vehicle102. The display handler204renders the acquisition path312as a dashed line in the same color as the first guidance path302. As such, the display handler204indicates to the user that the acquisition path312is a temporary path by rendering the acquisition path312as a dashed line. Accordingly, the display handler204allows the user of the vehicle102to distinguish between the acquisition path312and the first guidance path302.

FIGS. 4, 5, and 6are schematic illustrations of several instances of an example acquisition path displayed on the user interface300ofFIG. 3when a vehicle including the display controller118ofFIG. 1is in a standby autonomous mode of operation.

In the illustrated example ofFIG. 4, the user interface300includes an example guidance path402, an example vehicle representation404, an example implement representation406, and an example first instance408of an acquisition path. In the example ofFIG. 4, the user interface300illustrates a scenario in which a user has selected the guidance path402as a desired path for the vehicle102to acquire and the vehicle102is in standby autonomous mode (e.g., the guidance system is not engaged).

In the illustrated example ofFIG. 4, the guidance path402represents a path along which the vehicle102may travel to tend to a field. In the example ofFIG. 4, the vehicle representation404is rendered by the display handler204to represent the location of the vehicle102with respect to the guidance path402. The implement representation406is rendered by the display handler204to represent the location of an implement attached to the vehicle102with respect to the guidance path402. In the illustrated example ofFIG. 4, the first instance408of the acquisition path represents a path along which the vehicle102may travel to acquire the guidance path402from the current location of the vehicle102at a first time.

In the illustrated example ofFIG. 5, the user interface300illustrates an example second instance502of the acquisition path as the user traverses the field with the vehicle102. In the illustrated example ofFIG. 5, the second instance502of the acquisition path represents a path along which the vehicle102may travel to acquire the guidance path402from the current location of the vehicle102at a second time. In the example ofFIG. 5, the vehicle102has changed position as compared to the position of the vehicle102at the first time (e.g., illustrated inFIG. 4). In the example ofFIG. 5, the display handler204has updated the user interface300to represent the updated position of the vehicle102and the attached implement as well as to communicate an updated acquisition path (e.g., the second instance502) to the user.

In the illustrated example ofFIG. 6the user interface300illustrates an example third instance602of the acquisition path as the user traverses the field with the vehicle102. In the illustrated example ofFIG. 6, the third instance602of the acquisition path represents a path along which the vehicle102may travel to acquire the guidance path402from the current location of the vehicle102at a third time. In the example ofFIG. 6, the vehicle102has changed position as compared to the position of the vehicle102at the second time (e.g., illustrated inFIG. 5). In the example ofFIG. 6, the display handler204has updated the user interface300to represent the updated position of the vehicle102and the attached implement as well as to communicate an updated acquisition path (e.g., the third instance602) to the user.

In the illustrated example ofFIGS. 4, 5, and 6, the display handler204regenerates the acquisition path (e.g., the first, second, and third instances408,502, and602) and updates the user interface300. As such, the display handler204ensures that the current trajectory of the vehicle102is displayed to the user. In examples disclosed herein, when in the standby autonomous mode of operation, the display handler204regenerates the acquisition path and updates the user interface300based on a timer and/or the position of the vehicle102. For example, the display handler204regenerates the acquisition path and updates the user interface300based on a periodic time constraint (e.g. every 200 ms). Additionally or alternatively, the display handler204regenerates the acquisition path and updates the user interface300based on a relative change in the position of the vehicle102(e.g., distance traveled, heading change, etc.)

FIG. 7is a schematic illustration of the user interface300ofFIG. 3when an error condition is present. In the example ofFIG. 7, the user interface300includes an example guidance path702, an example vehicle representation704, an example implement representation706. In the example ofFIG. 7, the user interface300illustrates a scenario in which a user has selected the guidance path702as a desired path for the vehicle102to acquire and the vehicle102is in standby autonomous mode (e.g., the guidance system is not engaged).

In the illustrated example ofFIG. 7, the guidance path702represents a path along which the vehicle102may travel to tend to a field. In the example ofFIG. 7, the vehicle representation704is rendered by the display handler204to represent the location of the vehicle102with respect to the guidance path702. The implement representation706is rendered by the display handler204to represent the location of an implement attached to the vehicle102with respect to the guidance path702.

In the illustrated example ofFIG. 7, the error condition corresponds to the lateral error of the vehicle102exceeding the first lateral error threshold (e.g., the vehicle102is in no man's land). As such, the display handler204does not display an acquisition path on the user interface300. The lack of an acquisition path indicates to the user that the guidance path cannot feasibly be acquired given the current location and/or heading of the vehicle102.

FIG. 8is a schematic illustration of the user interface300ofFIG. 3when an alternative error condition is present. In the example ofFIG. 8, the user interface300includes an example an example guidance path802, an example vehicle representation804, an example implement representation806. In the example ofFIG. 8, the user interface300illustrates a scenario in which a user has selected the guidance path802as a desired path for the vehicle102to acquire and the vehicle102is in standby autonomous mode (e.g., the guidance system is not engaged).

In the illustrated example ofFIG. 8, the guidance path802represents a path along which the vehicle102may travel to tend to a field. In the example ofFIG. 8, the vehicle representation804is rendered by the display handler204to represent the location of the vehicle102with respect to the guidance path802. The implement representation806is rendered by the display handler204to represent the location of an implement attached to the vehicle102with respect to the guidance path802.

In the illustrated example ofFIG. 8, the error condition corresponds to the heading error of the vehicle102exceeding the first heading error threshold. As such, the display handler204does not display an acquisition path on the user interface300. The lack of an acquisition path indicates to the user that the guidance path cannot feasibly be acquired given the current location and/or heading of the vehicle102.

FIG. 9is a schematic illustration of an example acquisition path902displayed on the user interface300ofFIG. 3during acquisition of an example guidance path904when a vehicle including the display controller118ofFIG. 1is in a fully autonomous mode of operation. In the example ofFIG. 9, the user interface300illustrates a scenario in which a user has selected the guidance path904as a desired path for the vehicle102to acquire and the vehicle102is in fully autonomous mode (e.g., the guidance system is engaged).

In the illustrated example ofFIG. 9, the acquisition path902represents a path along which the vehicle102is to travel to acquire the guidance path904from the current location of the vehicle102. The guidance path904represents a path along which the vehicle102may travel to tend to a field. In the example ofFIG. 9, the vehicle representation906is rendered by the display handler204to represent the location of the vehicle102with respect to the guidance path904.

In the illustrated example ofFIG. 9, the display handler204displays the acquisition path and maintains (e.g., persists, does not regenerate, etc.) the display of the acquisition path without updating the rendering of the acquisition path until the vehicle102converges on the guidance path904. For example, the display handler204does not update the rendering of the acquisition path because the vehicle102is in the fully autonomous mode of operation.

FIGS. 10 and 11are schematic illustrations of a scenario in which an acquisition path displayed on the user interface300ofFIG. 3when a vehicle including the display controller118ofFIG. 1is in a fully autonomous mode of operation will be updated. In the example ofFIG. 10, the user interface300includes an example first instance1002of the acquisition path, an example guidance path1004, an example vehicle representation1006, and an example implement representation1008.

In the illustrated example ofFIG. 10, the user interface300illustrates a scenario in which a user has selected the guidance path1004as a desired path for the vehicle102to acquire and the vehicle102is in fully autonomous mode (e.g., the guidance system is engaged). In the example ofFIG. 10, the first instance1002of the acquisition path represents a path along which the vehicle102is to travel to acquire the guidance path1004from the current location of the vehicle102. The guidance path1004represents a path along which the vehicle102may travel to tend to a field. In the example ofFIG. 10, the vehicle representation1006is rendered by the display handler204to represent the location of the vehicle102with respect to the guidance path1004. The implement representation1008is rendered by the display handler204to represent the location of an implement attached to the vehicle102with respect to the guidance path1004. In the example ofFIG. 10, the vehicle102is travelling forward.

In the illustrated example ofFIG. 11, the user interface300illustrates an example second instance1102of the acquisition path as the vehicle102traverses the field. In the example ofFIG. 11, the vehicle102has changed direction so that the vehicle102is now travelling in reverse. For example, the vehicle102has changed gears from forward to reverse. In response to the vehicle102changing gears from forward to reverse, the vehicle condition controller206determines that the vehicle102has changed directions. As such, the display handler204has updated the user interface300to represent the updated direction of the vehicle102and the attached implement as well as to communicate an updated acquisition path (e.g., the second instance1102) to the user. In the example ofFIG. 11, the display handler204updates the user interface300because the vehicle102has changed direction from forward to reverse.

In additional or alternative examples, when the vehicle102is in a fully autonomous mode of operation, the display handler204will update the user interface300to represent an updated acquisition path when the lateral error of the vehicle102with respect to the acquisition path exceeds (e.g., satisfies) a threshold (e.g., the second lateral error threshold). As such, when the guidance controller116corrects for poor acquisition performance (e.g., vehicle slip, etc.) by recomputing the optimal trajectory to the guidance path1004, the display handler204can display a new instance of the acquisition path. In some examples, when the vehicle102is in a fully autonomous mode of operation, the display handler204will update the user interface300to represent an updated acquisition path when the speed change of the vehicle102exceeds (e.g., satisfies) a threshold. A such, when the guidance controller116accounts and adjusts for steering limitations based on the speed of the vehicle102by recomputing the optimal trajectory to the guidance path1004, the display handler204can display a new instance of the acquisition path.

FIG. 12is a schematic illustration of an example first acquisition path1202corresponding to a vehicle and an example second acquisition path1204corresponding to an implement displayed on the user interface300ofFIG. 3during acquisition of an example first guidance path1206in accordance with the teachings of this disclosure. In the example ofFIG. 12, the user interface300includes the example first acquisition path1202, the example second acquisition path1204, the example first guidance path1206, an example second guidance path1208, an example third guidance path1210, an example vehicle representation1212, and an example implement representation1214. In the example ofFIG. 12, the user interface300illustrates a scenario in which a user has selected the first guidance path1206as a desired path for the vehicle102to acquire and guidance information is available for the implement attached to the vehicle102.

In the illustrated example ofFIG. 12, the first, second, and third guidance paths1206,1208, and1210represent paths along which the vehicle102may travel to tend to a field. In the example ofFIG. 12, the vehicle representation1212is rendered by the display handler204to represent the location of the vehicle102with respect to the first guidance path1206. The implement representation1214is rendered by the display handler204to represent the location of an implement attached to the vehicle102with respect to the first guidance path1206.

In the illustrated example ofFIG. 12, the first acquisition path1202represents a path along which the vehicle102is to travel to acquire the first guidance path1206from the current location of the vehicle102. The display handler204renders the first acquisition path1202as a dashed line in the same color as the first guidance path1206. As such, the display handler204indicates to the user that the first acquisition path1202is a temporary path by rendering the first acquisition path1202as a dashed line. In the example ofFIG. 12, the second acquisition path1204represents a path along which the implement attached to the vehicle102is to travel to acquire the first guidance path1206from the current location of the implement attached to the vehicle102. The display handler204renders the second acquisition path1204as a dashed line in the same color as the implement representation1214. In additional or alternative examples, the display handler204renders the second acquisition path1204as a dashed line in the same color as the guidance path of the implement. In some examples, the display handler204displays the second acquisition path1204as a different color than the first acquisition path1202. As such, the display handler204indicates to the user that the second acquisition path1204is a temporary path by rendering the second acquisition path1204as a dashed line. Accordingly, the display handler204allows the user of the vehicle102to distinguish between the first acquisition path1202, the second acquisition path1204, and the first guidance path1206.

FIG. 13is a flowchart representative of example machine-readable instructions1300that may be executed to implement the display controller118ofFIG. 1to display acquisition paths. For example, the machine-readable instructions1300, when executed, cause (e.g., the instructions cause) a processor to implement the display controller118. The machine-readable instructions1300begin at block1302where the display handler204displays one or more guidance paths on the user display106. At block1304, the vehicle condition controller206determines whether an implement is attached to the vehicle102.

In the illustrated example ofFIG. 13, in response to the vehicle condition controller206determining that an implement is attached to the vehicle102(block1304: YES), the machine-readable instructions1300proceed to block1306. In response to the vehicle condition controller206determining that an implement is not attached to the vehicle102(block1304: NO), the machine-readable instructions1300proceed to block1308. At block1306, the display handler204displays a representation of one or more implements attached to the vehicle102on the user display106. At block1308, the display handler204displays a representation of the vehicle102on the user display106.

In the illustrated example ofFIG. 13, at block1310, the communication processor202determines whether a guidance path has been selected. In response to the communication processor202determining that a guidance path has been selected (block1310: YES), the machine-readable instructions1300proceed to block1312. In response to the communication processor202determining that a guidance path has not been selected (block1310: NO), the machine-readable instructions1300returns to block1304.

In the illustrated example ofFIG. 13, at block1312, the vehicle condition controller206determines whether the lateral error of the vehicle102is greater than (e.g., satisfies) the first lateral error threshold. In response to the vehicle condition controller206determining that the lateral error of the vehicle102satisfies the first lateral error threshold (block1312: YES), the machine-readable instructions1300proceed to block1320. In response to the vehicle condition controller206determining that the lateral error of the vehicle102does not satisfy the first lateral error threshold (block1312: NO), the machine-readable instructions1300proceed to block1314.

In the illustrated example ofFIG. 13, at block1314, the vehicle condition controller206determines whether the heading error of the vehicle102is greater than (e.g., satisfies) the heading error threshold. In response to the vehicle condition controller206determining that the heading error of the vehicle102satisfies the heading error threshold (block1314: YES), the machine-readable instructions1300proceed to block1320. In response to the vehicle condition controller206determining that the heading error of the vehicle102does not satisfy the heading error threshold (block1314: NO), the machine-readable instructions1300proceed to block1316.

In the illustrated example ofFIG. 13, at block1316, the display handler204generates (e.g., renders) an acquisition path for the vehicle102and, if guidance information for any implement attached the vehicle102is available, the display handler204generates (e.g., renders) an acquisition path for the implement. At block1318, the communication processor202determines whether automation of the vehicle102is engaged (e.g., the vehicle102is in a fully autonomous mode of operation). For example, at block1318, the communication processor202determines whether automation of the vehicle102is engaged based on the status of a switch and/or a button. In response to the communication processor202determining that automation is engaged (block1318: YES), the machine-readable instructions1300proceed to block1326. In response to the communication processor202determining that automation is not engaged (block1318: NO), the machine-readable instructions1300proceed to block1322.

In the illustrated example ofFIG. 13, at block1320, in response to the lateral error of the vehicle102exceeding the first lateral error threshold and/or the heading error of the vehicle102exceeding the first lateral error threshold, the display handler204does not display an acquisition path for the vehicle102. At block1322, the vehicle condition controller206determines whether real time display criteria are satisfied. For example, real time display criteria include whether a timer (e.g., 200 ms) has expired and/or whether there has been a relative change in the position of the vehicle (e.g., whether the vehicle102has travelled a distance as compared to a threshold, whether the heading of the vehicle102has changed as compared to a threshold, etc.).

In the illustrated example ofFIG. 13, in response to the vehicle condition controller206determining that the real time display criteria are satisfied (block1322: YES), the machine-readable instructions1300return to block1312where the vehicle condition controller206is to redetermine whether the lateral error of the vehicle102satisfies the first lateral error threshold to cause the acquisition path to be re-rendered and/or maintained. In response to the vehicle condition controller206determining that the real time display criteria are not satisfied (block1322: NO), the machine-readable instructions1300proceed to block1324. At block1324, the display handler204maintains the previously displayed (e.g., previously rendered) acquisition path if displayed.

In the illustrated example ofFIG. 13, at block1326, the display handler204regenerates (e.g., re-renders) an acquisition path for the vehicle102and, if guidance information for any implement attached the vehicle102is available, the display handler204generates (e.g., renders) an acquisition path for the implement. At block1328, the vehicle condition controller206determines whether the lateral error of the vehicle102is greater than (e.g., satisfies) the second lateral error threshold. In response to the vehicle condition controller206determining that the lateral error of the vehicle102satisfies the second lateral error threshold (block1328: YES), the machine-readable instructions1300return to block1326. In response to the vehicle condition controller206determining that the lateral error of the vehicle102does not satisfy the second lateral error threshold (block1328: NO), the machine-readable instructions1300proceed to block1330.

In the illustrated example ofFIG. 13, at block1330, the vehicle condition controller206determines whether the speed change of the vehicle102is greater than (e.g., satisfies) a speed change threshold. In response to the vehicle condition controller206determining that the speed change of the vehicle102satisfies the speed change threshold (block1330: YES), the machine-readable instructions1300return to block1326. In response to the vehicle condition controller206determining that the speed change of the vehicle102does not satisfy the speed change threshold (block1330: NO), the machine-readable instructions1300proceed to block1332.

In the illustrated example ofFIG. 13, at block1332, the vehicle condition controller206determines whether the direction of travel of the vehicle102has changed. For example, at block1332, the vehicle condition controller206determines whether the direction of travel of the vehicle102has changed based on whether the gears of the vehicle102have shifted from forward to reverse. In some examples, the vehicle condition controller206determines whether the direction of travel of the vehicle102has changed based on whether the heading error satisfies a second heading error threshold. In response to the vehicle condition controller206determining that the direction of travel of the vehicle102has changed (block1332: YES), the machine-readable instructions1300return to block1326. In response to the vehicle condition controller206determining that the direction of travel of the vehicle102has not changed (block1332: NO), the machine-readable instructions1300proceed to block1334.

In the illustrated example ofFIG. 13, at block1334, the display handler204maintains the previously displayed (e.g., previously rendered) acquisition path. At block1336, the vehicle condition controller206determines whether the vehicle102has acquired the selected guidance path. In response to the vehicle condition controller206determining that the vehicle102has acquired the selected guidance path (block1336: YES), the machine-readable instructions1300proceed to block1340. In response to the vehicle condition controller206determining that the vehicle102has not acquired the selected guidance path (block1336: NO), the machine-readable instructions1300proceed to block1338.

In the illustrated example ofFIG. 13, at block1338, the communication processor202determines whether automation of the vehicle102is engaged (e.g., the vehicle102is in a fully autonomous mode of operation). In response to the communication processor202determining that automation is engaged (block1338: YES), the machine-readable instructions1300return to block1328. In response to the communication processor202determining that automation is not engaged (block1338: NO), the machine-readable instructions1300return to block1312.

In the illustrated example ofFIG. 13, at block1340, in response to the vehicle102acquiring the selected guidance path, the display handler204does not display an acquisition path for the vehicle102. At block1342, the communication processor202determines whether to continue operating. In response to the communication processor202determining to continue operating (block1342: YES), the machine-readable instructions1300return to block1310. In responses to the communication processor202determining not to continue operating (block1342: NO), the machine-readable instructions1300terminate. For example, a condition that can cause the communication processor202to determine not to continue operating includes disablement of automation and/or shutdown of the vehicle102, among others.

FIG. 14is a block diagram of an example processor platform1400structured to execute the machine-readable instructions1300ofFIG. 13to implement the display controller118ofFIGS. 1 and/or 2. The processor platform1400can be, for example, a server, a personal computer, a workstation, a self-learning machine (e.g., a neural network), a mobile device (e.g., a cell phone, a smart phone, a tablet such as an iPad™), a personal digital assistant (PDA), an Internet appliance, a DVD player, a CD player, a digital video recorder, a Blu-ray player, a gaming console, a personal video recorder, a set top box, a headset or other wearable device, or any other type of computing device.

The processor platform1400of the illustrated example includes a processor1412. The processor1412of the illustrated example is hardware. For example, the processor1412can be implemented by one or more integrated circuits, logic circuits, microprocessors, GPUs, DSPs, or controllers from any desired family or manufacturer. The hardware processor1412may be a semiconductor based (e.g., silicon based) device. In this example, the processor1412implements the example communication processor202, the example the display handler204, and/or the example vehicle condition controller206.

The processor1412of the illustrated example includes a local memory1413(e.g., a cache). The processor1412of the illustrated example is in communication with a main memory including a volatile memory1414and a non-volatile memory1416via a bus1418. The volatile memory1414may be implemented by Synchronous Dynamic Random-Access Memory (SDRAM), Dynamic Random-Access Memory (DRAM), RAMBUS® Dynamic Random-Access Memory (RDRAM®) and/or any other type of random-access memory device. The non-volatile memory1416may be implemented by flash memory and/or any other desired type of memory device. Access to the main memory1414,1416is controlled by a memory controller.

The processor platform1400of the illustrated example also includes an interface circuit1420. The interface circuit1420may be implemented by any type of interface standard, such as an Ethernet interface, a universal serial bus (USB), a Bluetooth® interface, a near field communication (NFC) interface, and/or a PCI express interface.

The processor platform1400of the illustrated example also includes one or more mass storage devices1428for storing software and/or data. Examples of such mass storage devices1428include floppy disk drives, hard drive disks, compact disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital versatile disk (DVD) drives.

The machine executable instructions1432ofFIG. 14include the machine-readable instructions1300ofFIG. 13and may be stored in the mass storage device1428, in the volatile memory1414, in the non-volatile memory1416, and/or on a removable non-transitory computer readable storage medium such as a CD or DVD.

A block diagram illustrating an example software distribution platform1505to distribute software such as the example computer readable instructions1432ofFIG. 14to devices owned and/or operated by third parties is illustrated inFIG. 15. The example software distribution platform1505may be implemented by any computer server, data facility, cloud service, etc., capable of storing and transmitting software to other computing devices. The third parties may be customers of the entity owning and/or operating the software distribution platform. For example, the entity that owns and/or operates the software distribution platform may be a developer, a seller, and/or a licensor of software such as the example computer readable instructions1432ofFIG. 14. The third parties may be consumers, users, retailers, OEMs, etc., who purchase and/or license the software for use and/or re-sale and/or sub-licensing. In the illustrated example, the software distribution platform1505includes one or more servers and one or more storage devices. The storage devices store the computer readable instructions1432, which may correspond to the example computer readable instructions1300ofFIG. 13, as described above. The one or more servers of the example software distribution platform1505are in communication with a network1510, which may correspond to any one or more of the Internet and/or any of the example networks described above. In some examples, the one or more servers are responsive to requests to transmit the software to a device owned and/or operated by a requesting party as part of a commercial transaction. Payment for the delivery, sale and/or license of the software may be handled by the one or more servers of the software distribution platform and/or via a third party payment entity. The servers enable purchasers and/or licensors to download the computer readable instructions1432from the software distribution platform1505to a device. For example, the software, which may correspond to the example computer readable instructions1432ofFIG. 14, may be downloaded to the example processor platform1400, which is to execute the computer readable instructions1432to implement the display controller118. In some example, one or more servers of the software distribution platform1505periodically offer, transmit, and/or force updates to the software (e.g., the example computer readable instructions1432ofFIG. 14) to ensure improvements, patches, updates, etc. are distributed and applied to the software at the end user devices.

From the foregoing, it will be appreciated that example methods, apparatus and articles of manufacture have been disclosed that display acquisition paths. The disclosed methods, apparatus, and articles of manufacture advantageously display acquisition paths from any location of a vehicle to a selected guidance path. As such, examples disclosed herein, improve user experience when operating a vehicle (e.g., a farming vehicle, an agriculture vehicle, etc.). For example, examples disclosed herein prevent unexpected movement of vehicles operating in fully autonomous modes of operation.

The disclosed methods, apparatus and articles of manufacture improve the efficiency of using a computing device by reducing the computing resource consumption of the computing device while maintaining the benefits of displaying acquisition paths to a user. For example, the methods, apparatus, and articles of manufacture disclosed herein do not regenerate and/or otherwise re-render acquisition paths for a vehicle when conditions of the vehicle satisfy at least one threshold described above. By not needlessly regenerating and/or otherwise re-rendering acquisition paths, examples disclosed herein reduce (e.g., prevent) computing resource consumption. Additionally, in some examples, the methods, apparatus, and articles of manufacture disclosed herein do not generate and/or otherwise render acquisition paths. For example, if the vehicle is in a position from which a selected guidance path cannot be feasibly acquired, examples disclosed herein do not generate and/or otherwise render an acquisition path. As such, examples disclosed herein reduce (e.g., prevent) computing resource consumption. The disclosed methods, apparatus and articles of manufacture are accordingly directed to one or more improvement(s) in the functioning of a computer.

Example methods, apparatus, systems, and articles of manufacture to display acquisition paths are disclosed herein. Further examples and combinations thereof include the following:

Example 1 includes an apparatus comprising a display handler to, in response to a directional condition of an autonomous vehicle satisfying a threshold, render an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path, and a vehicle condition controller to, in response to determining that a real time display criterion is satisfied, redetermine whether the directional condition of the autonomous vehicle satisfies the threshold to cause the display handler to re-render the acquisition path.

Example 2 includes the apparatus of example 1, wherein the directional condition includes at least one of lateral error of the autonomous vehicle or heading error of the autonomous vehicle.

Example 3 includes the apparatus of example 1, further including a communication processor to determine whether the autonomous vehicle is in a standby autonomous mode of operation based on a status of at least one of a switch or a button.

Example 4 includes the apparatus of example 1, wherein the guidance path is displayed in a color and the display handler is to render the acquisition path as a dashed line in the color.

Example 5 includes the apparatus of example 1, wherein the acquisition path is a first acquisition path, the directional condition is a first directional condition, and the display handler is to, when guidance information specifying a second directional condition of an implement attached to the autonomous vehicle is available, render a second acquisition path for the implement.

Example 6 includes the apparatus of example 1, wherein the display handler is to, in response to the real time display criterion not being satisfied, maintain the rendering of the acquisition path.

Example 7 includes the apparatus of example 1, wherein the threshold is a first threshold and the real time display criterion includes at least one of whether a timer has expired, whether the autonomous vehicle has travelled a distance as compared to a second threshold, or whether a heading of the autonomous vehicle has changed as compared to a third threshold.

Example 8 includes a non-transitory computer readable medium comprising instructions that, when executed, cause one or more processors to at least in response to a directional condition of an autonomous vehicle satisfying a threshold, render an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path, and in response to determining that a real time display criterion is satisfied, redetermine whether the directional condition of the autonomous vehicle satisfies the threshold to cause the acquisition path to be re-rendered.

Example 9 includes the computer readable medium of example 8, wherein the directional condition includes at least one of lateral error of the autonomous vehicle or heading error of the autonomous vehicle.

Example 10 includes the computer readable medium of example 8, wherein the instructions cause the one or more processors to determine whether the autonomous vehicle is in a standby autonomous mode of operation based on a status of at least one of a switch or a button.

Example 11 includes the computer readable medium of example 8, wherein the guidance path is displayed in a color and the instructions cause the one or more processors to render the acquisition path as a dashed line in the color.

Example 12 includes the computer readable medium of example 8, wherein the acquisition path is a first acquisition path, the directional condition is a first directional condition, and the instructions cause the one or more processors to, when guidance information specifying a second directional condition of an implement attached to the autonomous vehicle is available, render a second acquisition path for the implement.

Example 13 includes the computer readable medium of example 8, wherein the instructions cause the one or more processors to, in response to the real time display criterion not being satisfied, maintain the rendering of the acquisition path.

Example 14 includes the computer readable medium of example 8, wherein the threshold is a first threshold and the real time display criterion includes at least one of whether a timer has expired, whether the autonomous vehicle has travelled a distance as compared to a second threshold, or whether a heading of the autonomous vehicle has changed as compared to a third threshold.

Example 15 includes a method comprising in response to a directional condition of an autonomous vehicle satisfying a threshold, rendering an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path, and in response to determining that a real time display criterion is satisfied, redetermining whether the directional condition of the autonomous vehicle satisfies the threshold to cause the acquisition path to be re-rendered.

Example 16 includes the method of example 15, wherein the directional condition includes at least one of lateral error of the autonomous vehicle or heading error of the autonomous vehicle.

Example 17 includes the method of example 15, further including determining whether the autonomous vehicle is in a standby autonomous mode of operation based on a status of at least one of a switch or a button.

Example 18 includes the method of example 15, wherein the guidance path is displayed in a color and the method further includes rendering the acquisition path as a dashed line in the color.

Example 19 includes the method of example 15, wherein the acquisition path is a first acquisition path, the directional condition is a first directional condition, and the method further includes, when guidance information specifying a second directional condition of an implement attached to the autonomous vehicle is available, rendering a second acquisition path for the implement.

Example 20 includes the method of example 15, further including, in response to the real time display criterion not being satisfied, maintaining the rendering of the acquisition path.

Example 21 includes the method of example 15, wherein the threshold is a first threshold and the real time display criterion includes at least one of whether a timer has expired, whether the autonomous vehicle has travelled a distance as compared to a second threshold, or whether a heading of the autonomous vehicle has changed as compared to a third threshold.

Example 22 includes an apparatus comprising a vehicle condition controller to determine whether a directional condition of an autonomous vehicle satisfies a threshold, and a display handler to render an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path, and in response to the directional condition of the autonomous vehicle satisfying the threshold, update the rendering of the acquisition path.

Example 23 includes the apparatus of example 22, wherein the directional condition includes at least one of lateral error of the autonomous vehicle, heading error of the autonomous vehicle, speed change of the autonomous vehicle, or a change in direction of travel of the autonomous vehicle.

Example 24 includes the apparatus of example 22, further including a communication processor to determine whether the autonomous vehicle is in a fully autonomous mode of operation based on a status of at least one of a switch or a button.

Example 25 includes the apparatus of example 22, wherein the guidance path is displayed in a color and the display handler is to render the acquisition path as a dashed line in the color.

Example 26 includes the apparatus of example 22, wherein the acquisition path is a first acquisition path, the directional condition is a first condition, and the display handler is to, when guidance information specifying a second condition of an implement attached to the autonomous vehicle is available, render a second acquisition path for the implement.

Example 27 includes the apparatus of example 22, wherein the display handler is to, in response to the autonomous vehicle acquiring the guidance path, no longer display the acquisition path.

Example 28 includes the apparatus of example 22, wherein the display handler is to, in response to the directional condition of the autonomous vehicle not satisfying the threshold, maintain the rendering of the acquisition path.

Example 29 includes a non-transitory computer readable medium comprising instructions that, when executed, cause one or more processors to at least determine whether a directional condition of an autonomous vehicle satisfies a threshold, render an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path, and in response to the directional condition of the autonomous vehicle satisfying the threshold, update the rendering of the acquisition path.

Example 30 includes the computer readable medium of example 29, wherein the directional condition includes at least one of lateral error of the autonomous vehicle, heading error of the autonomous vehicle, speed change of the autonomous vehicle, or a change in direction of travel of the autonomous vehicle.

Example 31 includes the computer readable medium of example 29, wherein the instructions cause the one or more processors to determine whether the autonomous vehicle is in a fully autonomous mode of operation based on a status of at least one of a switch or a button.

Example 32 includes the computer readable medium of example 29, wherein the guidance path is displayed in a color and the instructions cause the one or more processors to render the acquisition path as a dashed line in the color.

Example 33 includes the computer readable medium of example 29, wherein the acquisition path is a first acquisition path, the directional condition is a first condition, and the instructions cause the one or more processors to, when guidance information specifying a second condition of an implement attached to the autonomous vehicle is available, render a second acquisition path for the implement.

Example 34 includes the computer readable medium of example 29, wherein the instructions cause the one or more processors to, in response to the autonomous vehicle acquiring the guidance path, no longer display the acquisition path.

Example 35 includes the computer readable medium of example 29, wherein the instructions cause the one or more processors to, in response to the directional condition of the autonomous vehicle not satisfying the threshold, maintain the rendering of the acquisition path.

Example 36 includes a method comprising determining whether a directional condition of an autonomous vehicle satisfies a threshold, rendering an acquisition path for the autonomous vehicle, the acquisition path specifying a route along which the autonomous vehicle is to travel to acquire a guidance path, and in response to the directional condition of the autonomous vehicle satisfying the threshold, updating the rendering of the acquisition path.

Example 37 includes the method of example 36, wherein the directional condition includes at least one of lateral error of the autonomous vehicle, heading error of the autonomous vehicle, speed change of the autonomous vehicle, or a change in direction of travel of the autonomous vehicle.

Example 38 includes the method of example 36, further including determining whether the autonomous vehicle is in a fully autonomous mode of operation based on a status of at least one of a switch or a button.

Example 39 includes the method of example 36, wherein the guidance path is displayed in a color and the method further includes rendering the acquisition path as a dashed line in the color.

Example 40 includes the method of example 36, wherein the acquisition path is a first acquisition path, the directional condition is a first condition, and the method further includes, when guidance information specifying a second condition of an implement attached to the autonomous vehicle is available, rendering a second acquisition path for the implement.

Example 41 includes the method of example 36, further including, in response to the autonomous vehicle acquiring the guidance path, no longer displaying the acquisition path.

Example 42 includes the method of example 36, further including, in response to the directional condition of the autonomous vehicle not satisfying the threshold, maintaining the rendering of the acquisition path.