Patent Publication Number: US-2022232751-A1

Title: System and method for controlling operation of a work vehicle

Description:
FIELD 
     The present disclosure relates generally to the field of work vehicles. More specifically, the present disclosure relates to a system for controlling operation of a work vehicle in combination with a work machine. 
     BACKGROUND 
     A work vehicle, such as a tractor, is typically operated in combination with one or more work machine, such as an agricultural implement, in order to carry out and/or perform farm work. Accordingly, the work vehicle may be retrofitted and/or customized with the work machine in order to carry out and/or perform an intended form of farm work, such as soil cultivation, planting, fertilizing, irrigation, harvesting, and/or hay making. 
     In such a combination between a work vehicle and a work machine, it is common that work vehicles and work machines of different manufacturers are frequently combined with each other. As such, it has been promulgated and established that connection and compatibility between work vehicles and work machines of different manufacturers is possible. As such, international standard ISO 11783 (ISOBUS), based on a control area network (CAN), has been developed as a communication protocol for the agriculture industry. Particularly, ISO 11783 defines a communication protocol for exchanging, between a work vehicle and a work machine, information concerning operation of the work vehicle and/or the work machine. 
     Many modern work vehicles and work machines also typically include a tractor implement management (TIM) system. The TIM system is an ISOBUS-based solution for a cross-manufacturer agricultural technology system, which may enable a work machine to control certain operation and/or functions of the work vehicle and vice versa. More specifically, the TIM system allows for interactive communication between the work vehicle and the work machine, such that a control signal from the work machine may be received by the work vehicle in order for the work machine to carry out, for example, automatic speed control of the work vehicle. 
     However, in a work vehicle and work machine combination in which the work machine automatically controls the speed of the work vehicle, a user of the work vehicle and work machine combination may lose ability to manually control the speed of the work vehicle. A lack of manual control of the speed of the work vehicle by the user may deprive the user of appropriate oversight in carrying out farm work and/or cause an unsafe condition. 
     It is desirable to provide an improved system for controlling operation of a work vehicle which includes an intermediary and/or a safeguard between a work machine and control of the operation of the work vehicle by the work machine. 
     SUMMARY 
     According to aspects of the present disclosure, a system for controlling operation of a vehicle is provided, the vehicle being configured to operate in combination with a work machine and the work machine being configured to perform a work function, the system comprising a work machine electronic control unit being configured to communicate with the vehicle and to control performance of a work function of the work machine, a vehicle electronic control unit being configured to communicate with the work machine and to control operation of the vehicle, the vehicle electronic control unit being configured to control operation of the vehicle in a first mode, the first mode being determined by a first signal transmitted from the work machine electronic control unit to the vehicle electronic control unit, the vehicle electronic control unit being configured to operate the vehicle in a second mode, the second mode being determined by a second signal transmitted from the work machine electronic control unit to the vehicle electronic control unit, and an actuator being configured to send a command to the vehicle electronic control unit to operate the vehicle in a third mode, the third mode being determined by a third signal transmitted from the work machine electronic control unit to the vehicle electronic control unit. 
     According to aspects of the present disclosure, the first signal, second signal, and third signal are sent from the work machine electronic control unit to the vehicle electronic control unit based upon a determination made by the work machine corresponding to performance of a work function by the work machine. 
     According to aspects of the present disclosure, the determination made by the work machine is made by a sensor included by the work machine. 
     According to aspects of the present disclosure, the determination made by the sensor is sent to the work machine electronic control unit. 
     According to aspects of the present disclosure, completion of performance of a work function by the work machine prompts the work machine electronic control unit to transmit the third signal to the vehicle electronic control unit. 
     According to aspects of the present disclosure, the second mode includes the vehicle moving at a speed within a range of speeds between 0.00 km/h and 0.50 km/h. 
     According to aspects of the present disclosure, a speed of operation of the vehicle in the first mode is greater than a speed of operation of the vehicle in the second mode. 
     According to aspects of the present disclosure, a speed of operation of the vehicle in the third mode is greater than a speed of operation of the vehicle in the second mode. 
     According to aspects of the present disclosure, a method for controlling a vehicle is provided, the vehicle being configured to operate in combination with a work machine and the work machine being configured to perform a work function, the method comprising communicating a first signal from the work machine to the vehicle, operating the vehicle in a first mode, the first mode being determined by the first signal transmitted from the work machine to the vehicle, communicating a second signal from the work machine to the vehicle, operating the vehicle in a second mode, the second mode being determined by the second signal transmitted from the work machine to the vehicle, communicating a third signal from the work machine to the vehicle, and executing a command to operate the vehicle in a third mode, the third mode being determined by the third signal transmitted from the work machine to the vehicle. 
     According to aspects of the present disclosure, communicating the third signal includes prompting a request to operate the vehicle in the third mode to be sent to the vehicle. 
     According to aspects of the present disclosure, communicating the third signal includes the work machine making a determination corresponding to completion of performance of a work function by the work machine. 
     According to aspects of the present disclosure, operating the vehicle in the first mode includes operating the vehicle at a speed greater than a speed of operation of the vehicle of the second mode. 
     According to aspects of the present disclosure, operating the vehicle in the third mode includes operating the vehicle at a speed greater than a speed of operation of the vehicle in the second mode. 
     In the manner described and according to aspects illustrated herein, the system for controlling a vehicle and the method for controlling a vehicle are contemplated to provide an intermediary and/or a safeguard to improve the ability of a user to control operation of a vehicle in which a work machine is configured to determine modes of operation of the vehicle. Consequently, the system and the method provide for improved safety in the operation of a vehicle and work machine combination. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Aspects of an embodiment will be described in reference to the drawings, where like numerals reflect like elements: 
         FIG. 1  is a side view of a system for controlling a vehicle, in use in a work vehicle and a work machine; and 
         FIG. 2  is a schematic representation of the system for controlling a vehicle. 
     
    
    
     DETAILED DESCRIPTION 
     An embodiment of a system for controlling operation of a vehicle according to aspects of the disclosure will now be described with reference to  FIGS. 1-2 , wherein like numerals represent like and/or functionally similar parts. The system will generally be referred to by the reference numeral  10 . Although the system  10  is described with reference to specific examples, it should be understood that modifications and changes may be made to these examples without going beyond the general scope as defined by the claims. In particular, individual characteristics of the various embodiments shown and/or mentioned herein may be combined in additional embodiments. Consequently, the description and the drawings should be considered in a sense that is illustrative rather than restrictive. The Figures, which are not necessarily to scale, depict illustrative aspects and are not intended to limit the scope of the disclosure. The illustrative aspects depicted are intended only as exemplary. 
     The term “exemplary” is used in the sense of “example,” rather than “ideal.” While aspects of the disclosure are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described zo in detail. It should be understood, however, that the intention is not to limit aspects of the disclosure to the particular embodiment(s) described. On the contrary, the intention of this disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure. 
     Additionally, the language used herein has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe inventive subject-matter. Accordingly, the disclosure of the present disclosure is intended to be illustrative, but not limiting, of the scope of the disclosure, which is set forth in the claims. 
     As used in this disclosure and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the content clearly dictates otherwise. As used in this disclosure and the appended claims, the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise. 
     Throughout the description, including the claims, the terms “comprising a,” “including a,” and “having a” should be understood as being synonymous with “comprising one or more,” “including one or more,” and “having one or more” unless otherwise stated. In addition, any range set forth in the description, including the claims should be understood as including its end value(s) unless otherwise stated. Specific values for described elements should be understood to be within accepted manufacturing or industry tolerances known to one of skill in the art, and any use of the terms “substantially,” “approximately,” and “generally” should be understood to mean falling within such accepted tolerances. 
     Although the terms “first,” “second,” etc. may be used herein to describe various elements, components, regions, layers, sections, and/or parameters, these elements, components, regions, layers, sections, and/or parameters should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, or section from another region, layer, or section. Thus, a first element, component, region, layer, or section discussed herein could be termed a second element, component, region, layer, or section without departing from the teachings of the present inventive subject matter. 
     Unless specifically stated otherwise as apparent from the following discussion, it is appreciated that throughout the description, discussions utilizing terms such as “processing,” “computing,” “calculating,” “determining,” “displaying,” “estimating,” “determining,” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system memories or registers or other such information storage, transmission, or display devices. 
     Certain aspects of the present disclosure include process steps and instructions described herein. It should be noted that the process steps and instructions of the present disclosure may be embodied in software, firmware, and/or hardware, and when embodied in software, could be downloaded to reside on and be operated from different platforms used by a variety of operating systems. 
     The present disclosure also relates to control devices (each being referred to herein as an “electronic control unit”) for performing the operations of the system  10  discussed herein. The control devices may be specially constructed for the required purposes, or the control devices may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a computer readable storage medium, such as, but is not limited to, any type of disk including floppy disks, optical disks, CD-ROMs, magnetic-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, reduced instruction set computer (RISC), application specific integrated circuit (ASIC), or any type of media suitable for storing electronic instructions, and each coupled to a computer system bus. Furthermore, the computers referred to herein may include a single processor or architectures employing multiple processor designs for increased computing capability. 
     The computers presented herein are not inherently related to any particular computer or other apparatus. Various general-purpose systems may also be used with programs in accordance with aspects presented herein, or it may prove convenient to construct a more specialized apparatus to perform required method steps. The required structure for a variety of these systems will appear from the aspects disclosed herein. In addition, the present disclosure is not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present disclosure as described herein, and any references below to specific languages are provided for disclosure of enablement and best mode of the present disclosure. 
     As shown in  FIGS. 1-2 , a system  10  for controlling operation of a vehicle (hereafter, “the system”) is disclosed. It is contemplated that the system  10  may be described and/or implemented as a method. Referring to  FIG. 1 , the system  10  includes a vehicle  20 , one or more implement (also referred to herein as a “work machine”)  40 , and one or more actuator  60 . To control operation of a vehicle  20 , the system  10  may be configured to be incorporated into software and/or hardware which may be included by the vehicle  20 , the implement  40 , and/or the actuator  60 . 
     In the disclosed embodiment, the vehicle  20  is an agricultural vehicle and/or work vehicle. Particularly, in the disclosed embodiment, the vehicle  20  is a tractor configured to carry out farm work. Additionally, the vehicle  20  is configured for use in combination with the implement  40 . Additionally or alternatively, it is contemplated that the vehicle  20  may be configured for use with a plurality of implements  40 . However, the plurality of implements  40  will be referred to herein as “the implement  40 ,” unless specific reference to a plurality of implements  40  is otherwise necessary. In the disclosed embodiment, the implement  40  is an agricultural machine and/or work machine. Particularly, in the disclosed embodiment, the implement  40  is configured to perform a work function and/or the farm work. As such, the implement  40  may be a baler, a plow, a tiller, a seeder, a sprayer, a swather, and/or the like. 
     As shown in  FIG. 1 , there is a physical connection  80  between the vehicle  20  and the implement  40 . Additionally, the vehicle  20  and the implement  40  are configured to communicate. As such, the vehicle  20  and the implement  40  may be communicatively connected by, for example, the international standard ISO 11783, which is called ISOBUS and based on a control area network (CAN). Additionally, the vehicle  20  and the implement  40  may each include a tractor implement management (TIM) system. It is contemplated that a TIM system as referred to herein may be understood to be an ISOBUS-based agricultural technology system enabling compatibility and interactive communication between the vehicle  20  and the implement  40 , which may each be products that are different in manufacturer. In the disclosed embodiment, certain operations of the vehicle  20  may be determined by the implement  40 . Additionally or alternatively, certain operations of the implement  40  may be determined by the vehicle  20 . As such, the TIM system is configured to facilitate bidirectional communication. In view of the TIM system, the vehicle  20  may be understood as and/or referred to herein as a “resource provider” and the implement  40  may be understood as and/or referred to herein as a “resource manager.” Additionally, the vehicle  20  may be understood as an owner of TIM functions, and thereby referred to herein as a “TIM server.” Additionally, the implement  40  may be understood as a generator of TIM commands, and thereby referred to herein as a “TIM client.” In the disclosed embodiment, the actuator  60  is configured to function as an intermediary and/or safeguard between the bidirectional communication of the vehicle  20  and the implement  40 . In this manner, the system  10  allows for improved safety in the completion of farm work with a TIM system. 
     As shown in  FIG. 2 , the implement  40  is configured to function in combination with the vehicle  20 . To this end, the implement  40  is configured to communicate with the vehicle zo  20 . In the disclosed embodiment, the implement  40  includes one or more implement electronic control unit (ECU) (also understood as and/or referred to herein as the “implement electronic control system” or the “first electronic control unit”)  42 . The implement ECU  42  is configured to communicate with the vehicle  20 . Particularly, the implement ECU  42  is configured to communicate with a vehicle electronic control unit  22  included by the vehicle  20  (discussed further below). In this manner, the implement ECU  42  is configured to transmit signals  44   a,    44   b,    44   c  to the vehicle  20 . It is contemplated that the implement ECU  42  transmits the signals  44   a,    44   b,    44   c  to the vehicle  20  via a wired connection, a wireless connection, or any other manner of transmitting information which may be compatible with the system  10 . The implement ECU  42  is also configured to control performance of one or more work function performed by the implement  40 . It is contemplated that the term “work function” as used herein may be understood as a farm work activity, such as baling, plowing, tilling, spraying, swathing, and the like. 
     Referring to  FIGS. 1-2 , the implement  40  includes one or more sensor  46  configured to communicate with the implement ECU  42 . In the disclosed embodiment, the sensor  46  is configured to determine a status  48  of the implement  40  with respect to completion of the work function by the implement  40  (also referred to herein as “implement status information  48 ” and/or “work machine status information  48 ”). The sensor  46  is configured to provide the implement status information  48  to the implement ECU  42 . The implement ECU  42  is configured to transmit a signal  44   a,    44   b,    44   c  to the vehicle  20  corresponding to the implement status information  48 . In this manner, certain operations of the vehicle  20  are determined by the implement  40 . 
     Additionally or alternatively, it is contemplated that transmission of the signal  44   a ,  44   b,    44   c  may be prompted by an internal timer (not shown) included by the vehicle  20  and/or the implement  40 . Additionally or alternatively, it is contemplated that the signal  44   a ,  44   b,    44   c  may be prompted based upon a measurement related to a specific feature and/or function of the vehicle  20  (e.g. speed of the vehicle  20 , oil pressure of the vehicle  20 , hitch position of the vehicle  20 , power take-off (PTO) rpm of the vehicle  20 , and/or the like), which is communicated by the vehicle  20  to the implement  40 . In the TIM system, it is contemplated that the aforementioned measurements related to features and/or functions of the vehicle  20  may be continuously communicated by the vehicle  20  to the implement  40 . 
     Additionally or alternatively, it is contemplated that the aforementioned measurements related to features and/or functions of the vehicle  20  may be communicated by the vehicle  20  to the implement  40  independent of the features and/or functions of the vehicle  20 . Additionally, the measurements related to features and/or functions of the vehicle  20  may be zo continuously read by the implement  40 . Reading of the measurements by the implement  40  may prompt the implement  40  to transmit the signal  44   a,    44   b,    44   c.  In this manner, certain operations of the vehicle  20  may be determined by a measurement related to a feature and/or function of the vehicle  20 . 
     As shown in  FIG. 2 , the vehicle  20  is also configured to operate in combination with the implement  40 . To this end, the vehicle  20  is configured to communicate with the implement  40 . In the disclosed embodiment, the vehicle  20  includes one or more vehicle electronic control unit (ECU) (also understood as and/or referred to herein as the “vehicle electronic control system” and/or the “second electronic control unit”)  22 . The vehicle ECU  22  is configured to communicate with the implement  40 . Particularly, the vehicle ECU  22  is configured to communicate with the implement ECU  42 . Additionally, the implement ECU  42  is configured to communicate with the vehicle ECU  22 . The vehicle ECU  22  is also configured to control operation of the vehicle  20 . In the disclosed embodiment, the vehicle ECU  22  is configured to control a mode of operation of the vehicle  20 . Additionally or alternatively, it is contemplated that the mode of operation of the vehicle  20  may include control of a speed of the vehicle  20  upon and/or along a surface. Further, the mode of operation of the vehicle  20  may be dependent upon the implement status information  48  acquired by the sensor  46 . In the disclosed embodiment, the vehicle  20  may have a first mode of operation, which may include the vehicle  20  moving at a normal operating speed; a second mode of operation, which may include operating the vehicle  20  at a standstill; and a third mode of operation, which may include the vehicle  20  returning to and/or moving at a normal operating speed. It is contemplated that the term “normal operating speed” may be understood as any speed greater than a standstill and/or greater than a speed of operation of the vehicle  20  in the second mode of operation. Additionally, it is contemplated that the term “standstill” may be understood as a condition in which movement of the vehicle  20  is stopped and/or substantially stopped. Additionally or alternatively, it is contemplated that a “standstill” may be understood as any speed in which a bystander is unable to clearly detect motion of the vehicle  20  and/or the implement  40 . It should be understood that although three modes of operation of the vehicle  20  are disclosed herein to describe the system  10 , the system  10  may include operation of the vehicle  20  in more than three modes or less than three modes. 
     As shown in  FIG. 2 , the implement ECU  42  may be configured to transmit a first signal  44   a,  a second signal  44   b,  and a third signal  44   c  to the vehicle ECU  22 . The first signal  44   a,  second signal  44   b,  and third signal  44   c  may each dependent upon and/or correlate to the implement status information  48  acquired by the sensor  46 . Additionally or alternatively, the first signal,  44   a,  the second signal  44   b,  and the third signal  44   c  may be dependent upon zo and/or correlate to a measurement related to a feature and/or function of the vehicle  20 , which may be communicated from the vehicle  20  and/or the vehicle ECU  22  to the implement  40 . However, dependence and/or correlation of the first signal,  44   a,  the second signal  44   b,  and the third signal  44   c  to the measurement related to the feature and/or function of the vehicle  20  will be discussed herein with reference to the implement status information  48  acquired by the sensor  46 , unless discussion of the measurement related to the feature and/or function of the vehicle is otherwise necessary. Additionally, the first signal,  44   a,  the second signal  44   b,  and the third signal  44   c  are configured to correspond to the first mode of operation of the vehicle  20 , the second mode of operation of the vehicle  20 , and the third mode of operation of the vehicle  20 , respectively. It should be understood that although the first signal  44   a,  the second signal  44   b,  and the third signal  44   c  are disclosed herein, the system  10  may include the use of more than three signals  44   a,    44   b ,  44   c,  and/or less than three signals  44   a,    44   b,    44   c.    
     In correspondence with the first signal  44   a  transmitted to the vehicle ECU  22  by the implement ECU  42 , the vehicle ECU  22  is configured to control operation of the vehicle  20  at in the first mode. The first signal  44   a  is dependent upon a first determination of the implement status information  48  by the sensor  46 . In the disclosed embodiment, the first mode includes operating the vehicle  20  at a normal operating speed. As such, operation of the vehicle  20  in the first mode includes operation of the vehicle  20  at a speed that is greater than a speed of operation of the vehicle  20  in the second mode. More specifically, the first mode may include operation of the vehicle  20  at a speed within a range of speeds between a selected upper limit speed of the second mode of operation of the vehicle  20  and 20.00 km/h. Additionally or alternatively, the first mode may include operation of the vehicle  20  at a speed within a range of speeds between 0.11 km/h and 20.00 km/h, but may preferably include operation of the vehicle  20  at a speed of approximately 5.00 km/h. It is contemplated that the speed of operation of the vehicle  20  in the first mode may be a fixed speed or a variable speed. Operating the vehicle  20  in the first mode allows the implement  40  to perform a primary work function, which may be based upon the implement status information  48 . It is contemplated that the primary work function may require and/or may be more efficiently performed when the vehicle  20  is operated at the speed(s) of the first mode. For example, as shown in  FIG. 1 , the implement  40  may be a baler and the primary work function may be collecting material along a windrow. In this manner, the primary work function is performed with operation of the vehicle  20  in the first mode. Additionally, in this manner, operation of the vehicle  20  may depend on a determination made by the implement  40 . 
     As shown in  FIG. 2 , during operation of the vehicle  20  in the first mode, the sensor  46  may provide a second determination of the implement status information  48  to the implement ECU  42 . Upon receipt of the second determination of the implement status information  48  by the implement ECU  42  from the sensor  46 , the implement ECU  42  is configured to transmit the second signal  44   b  to the vehicle ECU  22 . In correspondence with the second signal  44   b  transmitted to the vehicle ECU  22  by the implement ECU  42 , the vehicle ECU  22  is configured to control operation of the vehicle  20  in the second mode. In the disclosed embodiment, operation of the vehicle  20  in the second mode includes operation of the vehicle  20  at a standstill. As such, operation of the vehicle  20  in the second mode includes operating the vehicle  20  at a speed that is less than a speed of operation of the vehicle  20  in the first mode. More specifically, the second mode may include operation of the vehicle  20  at a speed within a range of speeds between 0.00 km/h and a selected upper limit speed of the second mode. In the disclosed embodiment, the selected upper limit speed of the second mode may be a speed within a range of speeds between 0.00 km/h and 0.50 km/h, but may preferably be a speed within a range of speeds between 0.00 km/h and 0.10 km/h. It is contemplated that the speed of operation of the vehicle  20  in the second mode may be a fixed speed or a variable speed. Operating the vehicle  20  in the second mode allows the implement  40  to perform secondary work functions, which may be based upon the implement status information  48 . In the disclosed embodiment, the secondary work functions may be different from the work functions performed when the vehicle  20  is operated in the first mode. It is contemplated that the secondary work functions may require and/or may be more efficiently performed when the vehicle  20  is operated at the speed(s) of the second mode. For example, as shown in  FIG. 1 , the implement  40  may be a baler and the secondary work functions may be wrapping a bale  90  of collected material and releasing a bale  90  of collected material. In this example, after the sensor  46  makes a second determination, that a threshold amount of material has been collected, and provides the implement status information  48  to the implement ECU  42 , the second signal  44   b  is transmitted to operate the vehicle  20  in the second mode. The implement  40  may then wrap a bale  90  of collected material and release the bale  90  of collected material during operation of the vehicle  20  in the second mode. In this manner, the secondary work functions are performed with operation of the vehicle  20  in the second mode. Additionally, in this manner, operation of the vehicle  20  may depend on a determination made by the implement  40 . 
     After the implement  40  has performed the secondary work functions, the sensor  46  may provide a third determination of the implement status information  48  to the implement ECU  42 . Upon receipt of the third determination of the implement status information  48  by the implement ECU  42  from the sensor  46 , the implement ECU  42  is configured to transmit a third signal  44   c  to the vehicle ECU  22 . In correspondence with the third signal  44   c  transmitted to the vehicle ECU  22  by the implement ECU  42 , the vehicle ECU  22  is configured to control operation of the vehicle  20  in the third mode. It is contemplated that the third mode may be substantially similar to and/or the same as the first mode. The third signal  44   c  may function as a prompt to operate the vehicle  20  in the third mode and/or resume normal operating speed of the vehicle  20 , which is sent from the implement ECU  42  to the vehicle ECU  22 . Additionally or alternatively, the third signal  44   c  may function to prompt a request  24  to operate the vehicle  20  in the third mode and/or resume normal operating speed of the vehicle  20 , which is sent from the vehicle ECU  22  to the actuator  60 . As such, until the request  24  is acknowledged by a user, the vehicle  20  is still operated in the second mode. In the disclosed embodiment, a speed of operation of the vehicle  20  in the third mode is greater than a speed of operation of the vehicle  20  in the second mode. Additionally or alternatively, a speed of operation of the vehicle  20  in the third mode may be equal to a speed of operation of the vehicle  20  in the first mode. More specifically, the third mode may include operation of the vehicle  20  at a speed within a range of speeds between a selected upper limit speed of the second mode of operation of the vehicle  20  and 20.00 km/h. Additionally or alternatively, the first mode may include operation of the vehicle  20  at a speed within a range of speeds between 0.11 km/h and 20.00 km/h, but may preferably include operation of the vehicle  20  at a speed of approximately 5.00 km/h. It is contemplated that the speed of operation of the vehicle  20  in the third mode may be a fixed speed or a variable speed. Operating the vehicle  20  in the third mode allows the implement  40  to resume performance of the primary work function and/or a work function different from the secondary work functions. In the example in which the implement  40  is a baler and the primary work function is collecting material along a windrow, after the sensor  46  makes a third determination, that the collected material is below the threshold amount of collected material, the third signal  44   c  is transmitted to operate the vehicle  20  in the third mode. The implement  20  may then resume collecting material along the windrow. In this manner, the primary work function and/or a different work function from the secondary work functions is performed with operation of the vehicle  20  in the third mode. Additionally, in this manner, operation of the vehicle  20  may depend on a determination made by the implement  40 . 
     As shown in  FIGS. 1-2  of the disclosed embodiment, the actuator  60  may be configured to function as an intermediary and/or safeguard between the vehicle  20  and the implement  40 . More specifically, the actuator  60  may be configured to function as an intermediary and/or safeguard between the third signal  44   c  being transmitted from the implement ECU  42  to the vehicle ECU  22 . Additionally or alternatively, the actuator  60  may be configured to function as an intermediary and/or safeguard between operating the vehicle  20  in the second mode and operating the vehicle  20  in the third mode. As such, the actuator  60  may be configured to allow a user to send an acknowledgment (also referred to herein as “input” and/or a “command”)  62  corresponding to the third signal  44   c  sent from the implement ECU  42  to the vehicle ECU  22 , and/or the request  24  sent by the vehicle ECU  22  to the actuator  60 , to operate the vehicle  20  in the third mode and/or return the vehicle  20  to normal operating speed. Accordingly, the vehicle  20  may be held in the second mode, and may not be operated in the third mode, until a user actuates the actuator  60 . To this end, the actuator  60  may be included by the vehicle ECU  22 . Additionally or alternatively, the actuator  60  may be included by a separate control device of the vehicle  20  which is configured to communicate with the vehicle ECU  22 . As such, in the disclosed embodiment, the actuator  60  may be included by an operation terminal (not shown) which causes software to carry out the input  62  by the user to the vehicle ECU  22 . It is contemplated that the operation terminal may include a display, such as a touch panel display. The operation terminal may be capable of displaying information which corresponds to farm work. Additionally or alternatively, the operation terminal may display necessary information (e.g., respective current operational states of the vehicle  20  and the implement status information  48 ), while also allowing the input  62  and/or instruction by the user to each of the vehicle  20  and the implement  40 . In the disclosed embodiment, the actuator  60  may be a mechanical-type button, capacitive touch sensor-type button/user interface (UI) button, voice recognition-type control, or gesture recognition-type control configured to communicate with the vehicle ECU  22  and/or the operation terminal. Additionally or alternatively, the actuator  60  may be a pedal configured to communicate with the vehicle ECU  22  and/or the operation terminal. In this manner, the actuator  60  allows for a requirement of input from the user in order for the vehicle to return from a standstill to normal operating speed. Consequently, the actuator  60  allows for the system  10  to provide for additional safety in carrying out a work function. 
     In the disclosed embodiment, upon transmission of the third signal  44   c  from the implement ECU  42  to the vehicle ECU  22 , a prompt may be displayed on the operation terminal. Additionally or alternatively, upon transmission of the third signal  44   c  from the implement ECU  42  to the vehicle ECU  22 , the user may send the acknowledgement  62  of the third signal  44   c  (and/or the request  24 ) to the vehicle ECU  22  to operate the vehicle  20  in the third mode and/or to return the vehicle  20  to normal operating speed. The user may send the acknowledgement  62  to the vehicle ECU  22  to operate the vehicle  20  in the third mode and/or to return the vehicle  20  to normal operating speed by actuating the actuator  60 . In the disclosed embodiment, the user may actuate the actuator  60  by performing an appropriate action, depending on the type of actuator  60 , to send the acknowledgement  62  of the request  24  to operate the vehicle  20  in the third mode and/or to return the vehicle  20  to normal operating speed. Particularly, to send the acknowledgement  62  of the request  24  to operate the vehicle  20  in the third mode and/or to return the vehicle  20  to normal operating speed, the user may push a button and/or a pedal to an extent in a range between 1% to 25% of acceleration, but preferably 5% of acceleration. Additionally or alternatively, to send the acknowledgement  62  of the request  24  to operate the vehicle  20  in the third mode and/or to return the vehicle  20  to normal operating speed, the user may push the button and/or the pedal for a time within a range of 0.025 s to 1 s, but preferably for 0.100 s. Upon receipt of the acknowledgment  62  of the request  24  and/or the third signal  44   c  by the vehicle ECU  22  from the actuator  60 , the vehicle ECU  22  is configured to operate the vehicle  20  in the third mode. In this manner, the user is capable of manually returning the vehicle  20  to normal operating speed from a standstill, thereby improving oversight of the user and safety in the completion of farm work with a TIM system. 
     Although the present disclosure herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present disclosure. 
     It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims. 
     Additionally, all of the disclosed features of the system may be transposed, alone or in combination, to a method and/or an apparatus and vice versa.