Patent Publication Number: US-2023136169-A1

Title: Vehicle control by a remote operator

Description:
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS 
     The present application claims priority under 35 USC § 120 from co-pending U.S. patent application Ser. No. 17/114,231 filed on Dec. 7, 2020, by Whitney et al, which claims priority under 35 USC § 119 from U.S. Provisional Patent Application Ser. No. 62/962,752 filed on Jan. 17, 2020, by Whitney et al. and entitled VEHICLE CONTROL BY A REMOTE OPERATOR, the full disclosures of which are hereby incorporated by reference. 
    
    
     BACKGROUND 
     Vehicles may perform various vehicle actions in response to inputs or commands from an operator. For example, the direction in which a vehicle travels and/or speed of travel may be controlled by an operator sitting in the vehicle and manipulating a steering wheel, joystick, accelerator pedal, brake pedal and the like. Various attachments or extensions of the vehicle may also be controlled from the operator sitting or otherwise boarded upon the vehicle. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram schematically illustrating portions of an example vehicle control system. 
         FIG.  2    is a flow diagram of an example vehicle control method. 
         FIG.  3    is a block diagram schematically illustrating portions of an example vehicle control system. 
         FIG.  4    is a block diagram schematically illustrating portions of an example vehicle control system. 
         FIG.  5    is a front perspective view of an example vehicle control system. 
         FIG.  6    is a rear perspective view of the example vehicle control system. 
         FIG.  7    is a right-side view of the example vehicle control system. 
         FIG.  8    is a left side view of the example vehicle control system. 
         FIG.  9    is a front view of the example vehicle control system. 
         FIG.  10    right side rear view of the example vehicle control system. 
         FIG.  11    is a bottom perspective view of the example vehicle control system taken along line  11 - 11  of  FIG.  2   . 
     
    
    
     Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements. The figures are not necessarily to scale, and the size of some parts may be exaggerated to more clearly illustrate the example shown. Moreover, the drawings provide examples and/or implementations consistent with the description; however, the description is not limited to the examples and/or implementations provided in the drawings. 
     DETAILED DESCRIPTION OF EXAMPLES 
     Disclosed are vehicle control systems, methods and mediums that facilitate control of a vehicle by an operator remote from the vehicle. As a result, vehicle actions that might otherwise demand multiple persons, one person remote from the vehicle on the ground and another person boarded upon the vehicle and controlling the vehicle may be carried out by a single operator. As a result, vehicle actions that might otherwise demand that an operator boarding the vehicle repeatedly leave the vehicle to get a new perspective then re-boarding the vehicle may be performed with fewer or no re-boards. 
     For purposes of disclosure, the term “remote”, when referring to an operator, means that the operator is locally located with respect to the direct control devices of the vehicle such as a steering wheel, joystick, acceleration or brake pedals, gearshift levers, push buttons, switches, other levers and the like. In some implementations, a remote operator may be an operator that is standing on a part of the vehicle or an attachment of the vehicle, but wherein the operator cannot access the steering wheel or other input controls of the vehicle. For example, an operator may be located on a platform, bucket, or other attachment of the vehicle, but cannot readily ask the steering will other input controls of the vehicle. In some implementations, a remote operator may be an operator that is not boarded upon the vehicle. For example, a remote operator may be an operator standing on the ground in front of, behind of or to a side of the vehicle. In some implementations, a remote operator may be an operator that is standing or otherwise carried by an implement being pushed or pulled by the vehicle. In each case, the operator is remote from the direct control structures (steering wheel, joystick, push buttons, switches, levers, and the like) of the vehicle. 
     In some implementations, a remote operator may be an operator that cannot readily reach, contact or physically access the direct input interfaces for a particular vehicle action, wherein disclosed vehicle control systems, methods and mediums facilitate initiating, stopping or adjusting such vehicle actions by an operator through the use of direct or indirect gestures by the operator that are sensed by a sensor of the vehicle. Direct gestures comprise movement or positioning of the operator&#39;s anatomy such as movement or positioning of the operator&#39;s hands, arms, or legs. Indirect gestures of an operator may comprise manual movement or positioning of an input device by an operator, wherein the movement or positioning of the input device is sensed by sensor of the vehicle. In such circumstances, an operator who is positioned so as to not be able to physically contact and move a direct input device (steering wheel, joystick, push buttons, switches, levers and the like) for a desired vehicle action may still provide input to the vehicle initiating, stopping or adjusting such a vehicle action. 
       FIG.  1    is a block diagram schematically illustrating an example vehicle control system  20 . Vehicle control system  20  comprises vehicle  24 , sensor  28 , processor  32  and a non-transitory computer-readable medium  40 . Vehicle  24  comprises a self-propelled vehicle. Examples of vehicle  24  include, but not limited to, trucks, cars, tractors, harvesters, riding lawnmowers, snow throwers, four wheelers, all-terrain vehicles, and the like. 
     Sensor  28  comprises at least one sensor carried by vehicle  24  that is supported by vehicle  24  so as to be able to sense direct or indirect gestures initiated by an operator  42 . The direct gestures provided by operator  42  may be provided by the operator&#39;s anatomy  44 , such as a movement or positioning of the operator&#39;s hands, fingers, legs, torso, or the like. The movement, positioning/orientation of the operator&#39;s anatomy may serve as input  46  which is sensed by sensor  28 . Indirect gestures initiated by operator  42  may involve the movement and/or positioning of an input device  48  which serves as input  46 . The input device  48  may comprise a flag, a baton, a smart phone or other handheld or portable physical structure that may be manually manipulated by the operator  42  and that is recognizable by sensor  28 . 
     Sensor  28  may have varying fields of view or sensing ranges. In some implementations, particular regions about vehicle  24  that are within the particular field of view of at least one of sensors  28  may be designated for providing remote input to vehicle  24 . In other implementations, the at least one sensor  28  may have a field-of-view or multiple fields of view that encompass an entire area about vehicle  24  such that a remote operator may provide remote input at any of various possible locations about vehicle  24 . 
     In some implementations, sensor  28  comprises at least one camera supported by vehicle  24 . In other implementations, sensor  28  may comprise other forms of non-contact or wireless sensors such as lidar, radar, ultrasonic sensors, and the like. In some implementations, different types of sensors may be provided at different locations about the vehicle. 
     Processor  32  and medium  40  form a controller for vehicle  24 . Although processor  32  and medium  40  are illustrated as being part of or carried by vehicle  24 , in some implementations, processor  32  and medium  40  may be located remote from vehicle  24 , not being carried by vehicle  24 . In such implementations, the controller formed by processor  32  and medium  40  may communicate with a local controller on vehicle  24  in a wireless manner. Processor  32  carries out instructions provided in medium  40 . Medium  40  may contain additional instructions (not illustrated) for controlling other operations of vehicle  24 . 
     Medium  40  may be in the form of software or coding on a flash drive, memory disk, or the like and/or hardware in the form of logic elements on a circuit board. The instructions contained in medium  40 , that direct processor  32 , comprise remote operator input sensing instructions  56 , input recognition instructions  58  and input response control instructions  64 . Remote operator input sensing instructions  56  comprise instructions configured to obtain sensed input from the remote operator  42 . Such instruction direct processor  32  to pull or otherwise acquire signals from sensor  28  indicating the positioning and/or movement of operator anatomy  44  and/or input device  48 . Instructions  56  may further direct processor  32  to determine such positioning or movement from the signals provided by sensor  28 . 
     In one implementation, system  20  is selectively actuatable between different modes. In a first mode, sensor  28  may sense the positioning and/or movement of operator anatomy  44  and use such positioning and/or movement to control actions of vehicle  24 . In a second mode, sensor  28  may sense the positioning and/or movement of input device  48  and use such positioning and/or movement to control actions of vehicle  24 . In some implementations, the acquisition of signals from sensor  28  for facilitating remote control of vehicle  24  and/or the generation of control signals for one or more vehicle actions based upon a sensed gesture of operator  42  may be continuous or may be initiated in response to an input provided by the operator  42  through a direct input control, such as while the operator is boarded upon vehicle  24 . In some implementations, the acquisition of signals from sensor  28  for facilitating remote control of vehicle  24  and/or the generation of control signals for one or more vehicle actions based upon a sensed gesture of operator  42  may be triggered or initiated in response to signals indicating that the operator is no longer boarded upon vehicle  24 . For example, in some implementations, sensor  28  and/or the remote-control process of system  20  may be in a dormant mode and may be woken in response to signals from a sensor indicating that the operator has left vehicle  24 . In one implementation, one or more sensors may be located below the operator&#39;s chair or seat in vehicle  24 , wherein the sensor  28  and/or the remote-control process provided by system  20  may be awoken in response to such sensors indicating that the operator is no longer seated. 
     Input recognition instructions  58  comprise instructions configured to direct processor  32  to recognize and associate sensed input with a particular requested vehicle action. For example, an operator  42  pointing his or her hand in a downward direction may be interpreted as a command to decrease the forward or rearward velocity of the vehicle, whereas the operator  42  pointing his hand in an upward direction may be interpreted as a command to increase the forward or rearward velocity. An operator  42  pointing input device  48  in a downward direction may be interpreted as a command to decrease the forward or rearward velocity of the vehicle, whereas the operator  42  pointing the input device  48  in an upward direction may be interpreted as command to increase the forward or rearward velocity. The operator  42  pointing his hand in a leftward direction or pointing the input device  48  in the leftward direction may be interpreted as a command to turn the vehicle in a leftward direction, wherein the duration which the hand is pointed in the left direction indicates the extent or angle of the turn. An operator pointing his or her hand or input device directly at vehicle  24  may be interpreted as a command to back up the vehicle. 
     In one implementation, input recognition instructions  58  may direct processor  32  to discern between the operator&#39;s left-hand and right-hand, wherein different gestures provided by the left-hander the right hand (or an input device carried by the left-hand or right-hand), may be interpreted as different commands. For example, gestured by the left-hand may be interpreted as providing commands for the speed of the vehicle whereas gestures provided by the right hand may be interpreted as providing commands for movement of an attachment or implement of the vehicle. 
     In one implementation, medium  40  may additionally include a database or lookup table associating different sensed inputs (different sensed gestures) with different vehicle commands or actions. In some implementations, the database may be local, carried by vehicle  24 . In other implementations, the database may be remote from vehicle  24 . In some implementations, the database may be a generic database provided by a remote server, wherein the database is accessible to multiple different vehicles  24  and different systems  20  being operated by different operators  42 . In some implementations, the database may be specific to the particular operator  42 . In some implementations, the database may be part of a neural network that is been trained using images, videos or other sets of sensed data, or the neural network recognizes different gestures and associates such gestures with different vehicle action commands or requests. 
     In some implementations, the input recognition instructions  58  may have different databases of associated commands and gestures for different individual sensors  28  supported at different positions by vehicle  24 . A gesture received from a first sensor at a first location may correspond to a first vehicle action while the same gesture received from a second sensor at a second different location may correspond to a second different vehicle action. In some implementations, different sensors supported at different locations or positions on the vehicle may be dedicated or assigned to different vehicle actions. For example, a first sensor or group of sensors at a first location on a vehicle may be dedicated to receiving direct or indirect gestures for controlling a first type of vehicle action while a second sensor or a second group of sensors at a second location on the vehicle may be dedicated to receiving direct or indirect gestures for controlling a second different type of vehicle action. By way of a more specific example, a first sensor supported at a front end of a vehicle may be dedicated to receiving direct or indirect gestures for controlling the positioning of an attachment extending from the front of the vehicle, whereas a second sensor supported at a rear end of the vehicle may be dedicated to receiving direct or indirect gestures for controlling the positioning of an attachment extending from the rear of the vehicle. In some implementations, for an operator to provide remote input for a particular vehicle action, the operator must position himself or herself at a pre-determined or designated remote location relative to the vehicle such that his or her direct or indirect gestures are captured by the appropriate sensor that is designated for the desired vehicle action. 
     With such example implementations, an operator may be prevented from inadvertently providing an incorrect gesture for an incorrect command. For example, in one implementation, gestures associated with forward movement of the harvester may be only received from sensors positioned along or facing a side or rear of the vehicle  24 . Sensors facing a front to vehicle  24  may be dedicated to other vehicle actions, but not forward movement of vehicle  24 . In such implementations, the operator may be required to be along a side or rear of the vehicle, rather than in front of the vehicle when instructing forward movement of the vehicle. 
     By way of another example, one or more sensors having a field-of-view encompassing a power take off of the vehicle may be blocked or not be associated with receiving gestures corresponding to commands to turn on the power take off. In other words, only sensed gestures from sensors  28  having a field-of-view sufficiently distant from the power take off may be used to turn on the power take off. In such implementations, such assignment of sensors to particular vehicle actions may prevent an operator from becoming accidentally entangled in the power take off. 
     In some implementations, the association of different gestures with different requests or commands for particular vehicle actions may be additionally based upon other sensed parameters. For example, when vehicle  24  is carrying out a first operation or is in a first date (as sensed by sensors or otherwise determined by processor  32 ), recognition instructions  58  may direct processor  32  to consult a first table or database of gesture-vehicle action associations. When vehicle  24  is carrying out a second different operation or is in a second different state, recognition instructions  58  may direct processor  32  to consult a second table or database containing different gesture-vehicle action associations. By way of a specific example, instructions  58  may direct processor  32  to consult different databases containing different gesture-vehicle action associations depending upon the type or characteristics of attachment connected to vehicle  24  or depending upon the type or characteristic of the particular implement currently being pushed or pulled by vehicle  24 . The type or characteristics of the attachment or implement may be input by the operator or may be sensed. 
     Input response control instructions  64  comprise instructions configured to output control signals to various actuators or the like of vehicle  24  to cause vehicle  24  to carry out the particular vehicle action corresponding to the sensed input as determined by instructions  58 . Examples of various vehicle actions that may be associated with particular gestures (direct or indirect) from operator  42  in which may be carried out in response thereto include, but are not limited to vehicle actions consisting of: forward velocity, backward velocity, left/right direction, braking, lights (nightlights, running lights, spotlights), signal, sound (horn, loudspeaker), warning (flashing lights, hazard lights), implement specific actions (left sprayer on/off, right sprayer on/off, left implement wing raising and lowering, right implement wing raising and lowering, power take-up, moving a discharge spout, changing operational speed of the auger of a discharge spout, turning on/off of a power take off, adjusting a speed of the power takeoff, raising/lowering an attachment to the vehicle (such as a bucket, fork or the like), adjusting the supply of hydraulic fluid or hydraulic power to implement or attachment, raising/lowering a three point hitch in the like. 
       FIG.  2    is a flow diagram of an example vehicle control method  120 . Although method  120  is described in the context of being carried out by system  20 , it should be appreciated method  120  may likewise be carried out with any of the following described systems or with similar systems. As indicated by block  124 , processor  32  may obtain a sensed input from an operator  42  remote from vehicle  24 . The sensed input may be acquired from at least one sensor  28  carried by vehicle  24 . 
     As indicated by block  128 , processor  32  may recognize and associate the sensed input with a particular requested or commanded vehicle action. As described above, such association may be through the consultation of a local or remote database or lookup table associating different sensed inputs/gestures with different vehicle actions. In some implementations, the determination of the particular requested vehicle action corresponding to the sense input or gesture may additionally be based upon from which particular sensor  28  the sensed gesture was received and/or the particular state of vehicle  24 , including the state or characteristic of any implement or attachment associated with vehicle  24 . In some implementations, the operator  42  or other manager may provide system  20  with selections identifying which particular vehicle actions may be requested through the use of remote sensed gestures. For example, a database may include a multitude of available vehicle actions that may be controlled through the use of remote gestures, but where the operator or another person may authorize only a portion or a selected group of such available vehicle actions for control through remote gestures. 
     As indicated by block  132 , processor  32  may output control signals to the vehicle  24  to cause a vehicle  24  to carry out the particular vehicle action currently associated with the sensed input/gesture from the remote operator  42 . As described above, examples of such vehicle actions include, but are not limited to, forward velocity, backward velocity, left/right direction, braking, lights (nightlights, running lights, spotlights), signal, sound (horn, loudspeaker), warning (flashing lights, hazard lights), implement specific actions (left sprayer on/off, right sprayer on/off, left implement wing raising and lowering, right implement wing raising and lowering, power take-up, moving a discharge spout, changing operational speed of the auger of a discharge spout, turning on/off of a power take off, adjusting a speed of the power takeoff, raising/lowering an attachment to the vehicle (such as a bucket, fork or the like), adjusting the supply of hydraulic fluid or hydraulic power to an implement or attachment, raising/lowering of a three point hitch and the like. 
       FIG.  3    is a block diagram schematically illustrated portions of an example vehicle control system  220 . Vehicle control system  220  is similar to vehicle control system  20  described above except that vehicle control system  220  comprises vehicle  224  and input device  248  in place of vehicle  24  and input device  48 . Vehicle  224  the additionally illustrated as being coupled to an attachment/implement  225 . 
     Vehicle  224  is itself similar to vehicle  24  except that vehicle  224  is illustrated as specifically comprising lights  300 , steering unit  302 , propulsion unit  304 , power take off (PTO) unit  306 , hydraulic power unit  308 , brakes  310  and auxiliary units  312 . Vehicle  224  additionally comprises input-action store  314 , authorization store  316 , microphone  318  and sensor  320 . Medium  40  additionally comprises operator identification and authorization instructions  52 , input device identification and authorization instructions  54  and operator position identification instructions  60 . The remaining components of vehicle  224  and system  220  which correspond to components of system  20  are numbered similarly. 
     Lights  300  comprise light supported by vehicle  224  for providing illumination about vehicle  224  or for providing alerts or notifications for vehicle  224 . Steering unit  302  comprises electrical and/or hydraulic components and associated controllers that effectuate turning of the wheels, tracks, or the like to steer forward or rearward travel of vehicle  224 . Propulsion unit  304  comprises an internal combustion engine, electric motor, transmission, and associated controllers for controlling the forward and rearward propulsion of vehicle  224 . PTO unit  306  comprises an electrical, hydraulic, or mechanical drive and associate controllers for rotating the power take off (such as a projecting spline) for supplying torque to a fitting associated with an attachment or implement. Hydraulic power unit  308  comprises hydraulic pumps, valves, and associated controllers for supplying pressurized hydraulic fluid to portions of vehicle  224  or to attachments/implements powered by such pressurized hydraulic fluid from vehicle  224 . Brakes  310  comprise devices for braking, slowing down the propulsion of vehicle  224 . Auxiliary units  312  comprise movable or actuator components of vehicle  224 . For example, auxiliary units  312  may comprise discharge spouts of a harvester, wherein the positioning of the discharge spout and/or the rotation of an auger of the discharge spout are adjustable. 
     Attachment/implement  225  comprises an attachment carried by vehicle  224  and/or an implement being pushed or pulled by vehicle  224 . An attachment may be in the form of a bucket, blade, harvester head or the like. Examples of an implement may include any of a variety of implement such as wagons, carts, plows, discs, choppers, balers, sprayers, and the like. As discussed above, vehicle actions may involve repositioning such attachments are implements or adjusting the supply of power to such attachments or implements. The association of particular gestures to particular inputs/commands may vary depending upon what particular attachment implement is coupled to vehicle  224  and/or the current state of the particular attachment or implement coupled to vehicle  224 . The same director indirect gesture may be associated with different commands depending upon the particular attachment or implement coupled to vehicle  224  and/or the current state of the particular attachment or implement coupled to vehicle  224 . 
     Input-action store  314  comprises one or more databases or lookup tables linking various sensed gestures (direct or indirect) to associated requests or commands for vehicle actions. 
     Authorization store  316  comprises one or more databases or lookup tables identifying preauthorized operators and/or preauthorized input devices  248  for providing gestures for inputting requests or commands for vehicle actions. For example, authorization store  316  may comprise photographs of authorized operators  42 , wherein authorization of an operator may be determined by comparing captured images of a candidate operator  42  and the photographs contained in the store  316 . Authorization store  316  may comprise a pre-assigned set of passwords, wherein authorization for an operator  42  or an input device  248  may be determined by comparing a received password input through microphone  318  to the store  316 . Authorization store  316  may comprise barcode values or other signatures for authorize input devices  248 . Input-action store  314  and authorization store  316  may be contained on medium  540  carried by vehicle  524  or may be stored in a remote memory or server, wherein vehicle  524  accesses stores  314 ,  316  through a wireless communication connection with the remote memory or server. 
     Operator identification and authorization instructions  52  comprise instructions for directing processor  32  to identify and authorize a candidate operator  42  for providing direct gestures for providing remote control commands for vehicle  224 . Instructions  52  may direct sensor  28  or an alternative sensor, such as sensor  320  (in the form of a camera or other sensor) to capture images of operator  42  and then compare the received information or data to information found in authorization store  316 . Based on such comparison, the operator  42  may be authorized for providing direct gestures for use in remotely controlling vehicle  224 . 
     Input device identification and authorization instructions  54  comprise instructions for directing processor  32  to identify and authorize a candidate input device  248  doe providing direct gestures for providing remote control commands for vehicle  224 . Instructions  54  may direct sensor  28  or an alternative sensor, such as sensor  320  (in the form of a camera or other sensor) to capture images a barcode or other indicia of input device  248  or receive an identification/authorization signal from input device  248 , and then compare the received information or data to information found in authorization store  316 . Based on such comparison, the input device  248  may be authorized for providing indirect gestures for use in remotely controlling vehicle  224 . 
     Operator position identification instructions  60  comprise instructions that direct processor  32  to identify the positioning of the remote operator  42  relative to vehicle  224 . Based upon the determined relative positioning, such instructions may further direct processor  32  to either outputting notification to the operator  42  recommending that the operator move relative to the vehicle or automatically interrupt the requested vehicle action corresponding to the sensed operator input/gesture. In such a fashion, instructions  60  may prevent vehicle actions from being carried out when the operator may be too close or out of position with respect to vehicle  224  for the vehicle action being requested. 
     Input device  248  comprises a handheld device to be manually manipulated, moved, or positioned by operator  42 . Input device  248  comprises a first face  330  having an input identifier  332 . Input identifier  332  is recognizable by sensor  28  and processor  32  following input recognition instructions  58 . In some implementations, input identifier  332  may comprise flashing lights, particular patterns or shades of the color or other characteristics readily perceptible by sensor  28  to facilitate the sensing of the positioning and/or movement of input device  248 . 
     Input device  248  additionally comprises a second opposite face  334  having a display  336 . In one implementation, signals from sensor  28  or sensor  320  may be transmitted to input device  248 , wherein a depiction of the region surrounding vehicle  224 , based upon such signals, is presented on display  336 . For example, one of sensor  28 ,  320  may comprise a camera carried by vehicle  224 . The captured images may be transmitted to input device  248  and presented on display  336 . As a result, the operator  42  providing remote commands to vehicle  224  may make such gestures and provide such commands based upon not only on his or her perspective which is remote from vehicle  224  but also based upon the perspective of the sensors  28  or  320  taken from the perspective of vehicle  224 . Thus, the operator may make a more informed decisions regarding such remote commands. In one implementation, input device  248  may comprise a smart phone that wirelessly communicates with the controller provided by processor  32  and medium  40 , wherein the positioning or movement of the smart phone serves as a remote gesture for providing remote commands to vehicle  224 . 
       FIG.  4    is a schematic view illustrated portions of an example vehicle control system  420 . As shown by  FIG.  4   , system  420  allows a driver to control the motion of a tractor, and actions of tools/devices attached to it whilst being physically removed from the tractor (such as standing in front of it). Sensors are mounted on the tractor so that the tractor can collect sensor data. The tractor analyzes the data to look for gestures that it has been trained to recognize. The tractor takes appropriate control changes dependent upon the gestures recognized. This system can be used to perform such tasks as instructing a tractor to follow the driver around a field or positioning a tractor within a closed space (such as garage). 
     As shown by  FIG.  4   , vehicle control system  420  comprises a sensor array  428  in the form of a set of sensors that sense and output real-time data regarding the input provided by operator  42  either through his or her anatomy  44  or through an input device, such as input device  248 . The sensed data is transmitted to neural networks  432  which are trained to recognize a set of control gestures or inputs. Such recognition may be based upon training library  434  which may comprise a set of videos that show control gestures being given. 
     Vehicle control system  420  may further comprise rules engine  436  which comprises a processor and a non-transitory computer-readable medium that outputs control instructions for vehicle  224 , in the form of a tractor, based upon the gestures or input identified by neural networks  432 . As indicated by block  438 , operation of vehicle  224  is adjusted based upon the control instructions. Such control instructions may involve steering, velocity and the like as described above. For example, such control instructions may control the operation of lights  300 , steering unit  302 , propulsion unit  304 , PTO unit  306 , hydraulic power unit  308 , brakes  310  and/or auxiliary unit  312 . 
       FIGS.  5 - 11    illustrate an example vehicle control system  520  for a vehicle  524  in the form of a tractor. Vehicle  524  is similar to vehicle  224  except that vehicle  524  additionally comprises vehicle state and feedback system  525 . Vehicle state and feedback system  525  provides an operator, remote from vehicle  524 , with visible and/or audible feedback regarding the state of vehicle  524 . Such feedback may include the speed or rate at which the vehicle is traveling, the speed or state of an implement and/or the state of any of lights  300 , steering unit  302 , propulsion unit  304 , PTO unit  308 , brakes  310  auxiliary unit  312 . Such feedback may include a confirmation of receipt or capture of gestures from the operator (either operator anatomy  44  and/or input device  248 ), a confirmation of recognition of such gestures, an indication that such commands are about to be executed, a request for the operator repeating such gestures, and/or an indication that the commands associated with such gestures will not be carried out given the current state of vehicle  524  or the operator&#39;s position relative to vehicle  524  and/or its implements. 
     Vehicle  524  may be used for a variety of purposes in agricultural construction and residential purposes. Vehicle  524  may be used to push or pull an implement. Vehicle  524  may include attachments, such as a bucket, blade, backhoe, or the like for digging, displacing, and/or carrying various materials such as earthen materials, animal waste and produce. Vehicle  524  may include forks or other coupling mechanisms for engaging pallets, bins, boxes, or the like, wherein the tractors carry and/or lift the engaged items. 
     Vehicle  524  comprises chassis  600 , ground propulsion members  602 , battery  604 , and vehicle cab  606 . Vehicle  524  further comprises lights  300 , steering unit  302 , propulsion unit  304 , PTO unit  306 , hydraulic power unit  308 , brakes  310  and auxiliary unit  312 . Chassis  600  comprises a frame supporting the remaining components of vehicle  524 . In the example illustrated, chassis  600  comprises a front cargo bed  608  for storing and transporting cargo. In the example illustrated, chassis  600  is further configured for connection to an attachment/implement  225 . In the example illustrated, propulsion unit  304  comprises an electric motor driven by electrical power supplied by a battery. 
     Ground propulsion members  602  comprise members that engage the underlying terrain in which are driven by propulsion unit  304 . In the example illustrated, ground propulsion members  602  comprise rear wheels  610  and front wheels  612 . In the example illustrated, rear wheel  610  are driven by propulsion unit  304  while front wheels  612  are manipulated or turned by steering unit  302 . In other implementations, ground propulsion members  602  may comprise tracks or other ground engaging members. 
     Battery  604  comprises a battery unit that is removably received within a corresponding chamber or cavity extending rearwardly from the front of chassis  600 . Battery  604  mates with a corresponding connection interface for transferring electrical power from battery  604  to the electrically powered components of vehicle  524 . In other implementations, battery  604  may be located at other locations. In other implementations, battery  604  may be fixed and non-swappable or not removable. In the example illustrated, battery  604  electrically powers propulsion unit  304  which drives rear wheel  610 . In the example illustrated, battery  604  electrically powers hydraulic motors or pumps of hydraulic power unit  308 , steering unit  302  and brakes  310 . Battery  604  additionally powers lights  300 , attachment/implement  225 , and auxiliary units  312 . 
     Cab  606  comprises a compartment in which an operator may be seated when operating vehicle  524 . Cab  606  comprises a seat  612 , a steering wheel  616 , a control console  618  and a roof  620 . Roof  620  extends over control seat  612  and control console  618 . In some implementation, roof  620  may be raised and lowered. 
     Lights  300 , steering unit  302 , propulsion unit  304 , PTO unit  306 , hydraulic power unit  308 , brakes  310  and auxiliary unit  312  are described above. In the particular example illustrated, PTO unit  306  comprises a power take off  623  (shown in  FIG.  10   ). In the example illustrated, lights  300  comprise hood lights  624  and roof lights  626 . 
     As with vehicle  224 , vehicle  524  include sensors that capture the control gestures made by the operator  42 . In the example illustrated, such sensors comprise cameras  530 - 1  (shown in  FIG.  5   ),  530 - 2  (shown in  FIG.  6   ) and  530 - 3  (shown in  FIG.  11   ) (collectively referred to as cameras  530 ). Cameras  530  capture images of operator control gestures as well as the surrounding environment and output signals to processor  32 . Camera  530 - 1  extends on a front edge of roof  620  to capture regions in front of vehicle  524 . Camera  530 - 2  extends on a rear edge of roof  620  to capture images of regions rearward of vehicle  524 . Cameras  530 - 3  extend on underside of roof  620  to capture side regions of vehicle  524 . Such cameras output signals identifying the location of the operator  42 . In some implementations, vehicle  524  may include additional or fewer cameras at the same or different locations and alternative forms of sensors. 
     Vehicle state and feedback system  525  comprises indicators  570 - 1 ,  570 - 2 ,  570 - 3 ,  570 - 4  (collectively referred to as indicators  570 ), indicator  572 , indicator  574 , and state/feedback instructions  568 . Indicators  570  comprise display screens located at the four corners of roof  620 . Indicators  570 - 1  and  570 - 2  face in a forward direction and are angled towards their respective opposite sides of vehicle  524 . Indicators  570 - 3  and  570 - 4  face in a rearward direction and are angled towards their respective opposite sides of vehicle  524 . Indicators  570  present graphics and text which may be viewed by the operator  42  at various positions about vehicle  524 . 
     Indicator  572  comprises an elongate bar or strip that wraps around a front of the hood  601  and the sides of hood  601  of vehicle  524 , wherein the bar or strip may be selectively illuminated under the control of processor  32 . In some implementations, indicator  572  is actuated between an illuminated and a non-illuminated state to provide feedback to the operator  42  who may be remote from vehicle  524 , not within cab  606 . In some implementations, indicator  572  was actuatable between different colors or shades of colors to provide status information to operator  42 . In some implementations, indicator  572  is actuatable between different brightness levels or is actuatable so as to flash or flash at different frequencies to provide status information to operator  42 . 
     Indicators  574  comprise speakers/microphones. In the example illustrated, indicators  574  are located on underside of roof  620  proximate steering console  618 . Indicators  574  provide audible status information to an operator remote from vehicle  524 . In some implementations in which indicators  574  also serve as microphones, indicators  574  may serve as input devices for the remote operator, whereby the operator may provide audible instructions or commands and wherein processor  32  uses speech recognition to identify such commands and carry out such commands. 
     In some implementations, lights  526  may serve as additional indicators, wherein a color, brightness, blinking frequency, or the like of such lights  526  may be controlled to provide status information to the operator  42 . In some implementations, additional visible indicators, such as light emitting diode lights, light bars or the like may be utilized to provide status information based upon the current state of vehicle  524 , its implements  225 , its components  300 ,  302 ,  304 ,  306 ,  308 ,  310 ,  312  and/or the positioning of operator  42  or the positioning of implement  225  as based upon images captured by cameras  530 . 
     State/feedback instructions  568  comprise software, code or logic elements on a circuit board provided in the non-transitory computer-readable medium  540 . Instructions  568  direct processor  32  to output various control signals controlling the actuation or state of indicators  570 ,  572  and  574 . For example, processor  32 , following instructions  568 , may indicate a first state of vehicle  524  by providing indicator  572  with a first brightness, color, on/off state and/or blinking frequency and may indicate a second different state of vehicle  524  by providing indicator  572  with a second different brightness, color, on/off state and/or blinking frequency. For example, indicator  572  may be illuminated to have a green color when traveling forward and illuminated to have a red color when stopped. By way of another example, indicator  572  may be illuminated to have a green color when the power takeoff is operating or when an implement is being powered and may have a red color when the power takeoff is no longer operating or when an implement is no longer being powered or driven. 
     Processor  32 , following instructions  568 , may indicate a first state of vehicle  524  or second state of vehicle  524  by displaying graphics or text on one or multiples of indicators  570 . Such status information provided by indicators  570 ,  572 , and  574  may include the speed or rate at which the vehicle is traveling, the speed or state of an implement and/or the state of any of lights  300 , steering unit  302 , propulsion unit  304 , PTO unit  308 , brakes  310  and/or auxiliary unit  312 . Such feedback or status information provided by indicators  570 ,  572  and  574  may include a confirmation of receipt or capture of gestures from the operator (either operator anatomy  44  and/or input device  248 ), a confirmation of recognition of such gestures, an indication that such commands are about to be executed, a request for the operator to repeat such gestures or to move so as to be more centrally located within the field of view of cameras  530  when providing such gestures, or an indication that the commands associated with such gestures will not be carried out given the current state of vehicle  524  or the operator&#39;s position relative to vehicle  524  and/or its implements. Different indicators may be utilized to provide different types of status information to the operator. 
     In one implementation, processor  32 , following instructions contained in medium  540 , utilizes images from camera  530 - 1  to identify the positioning of rows of plants and to output control signals to steering unit  302  and propulsion unit  304  to automatically drive vehicle  524  (and any attachment/implement  225 ) between and along the rows of plants (such as crop plants, trees and the like). In one implementation, processor  32 , following instructions contained in medium  540 , utilizes images from camera  530 - 1  to identify the positioning or location of operator  42  and the movement of operator  42 . Processor  32 , following the instructions contained in medium  540 , may further block or allow other commands from operator  42  (based upon input gestures) based upon the position or movement of operator  42 . In some implementations, processor  32 , following instructions contained in medium  540 , may output control signals causing propulsion unit  304  and steering unit  302  to move vehicle  524  so as to follow the movement of operator  42  at a preselected or operator selected distance. In some implementations, processor  32  may control propulsion unit  304  and brakes  310  to substantially match the speed at which the operator is moving. In some implementations, processor  32 , following instructions contained in medium  540 , may utilize images captured by any of cameras  530  to identify animals or other obstructions, wherein processor  32  outputs control signals to steering unit  302  and propulsion unit  304  to control the movement of vehicle  524  so as to avoid such animals or obstructions. In some implementations, processor  32  may utilizes signals from any of cameras  530  to control the lighting provided by lights  624 ,  626 . In some implementations, processor  32  may utilize the signals from any of cameras  530  and additional signals from a provided global positioning system to automatically, without operator intervention, drive vehicle  524  to and from a worksite or field, to or from a storage lot, shed, garage or the like (a home location) for vehicle  524  or to or from a charging site or location for charging battery  604 . 
     In some implementations, processor  32  may utilize the identified positioning of operator  42  or of animals or other obstructions so as to control brakes  310 , PTO unit  306 , auxiliary unit  312  or attachment/implement  225 . For example, in one circumstance, the attachment/implement  225  may comprise a sprayer spraying herbicides, insecticides, fungicides or the like. In response to the detection of the presence of an operator or animal, processor  32  may temporarily cease the movement of vehicle  524  and/or the spraying operation until the operator animal is a predefined distance from the vehicle  524  or its implement  225 . In some implementations, processor  32  may automatically cease the operation of power take off  623  in response to images from cameras  530  indicating that the operator, another person, or an animal are within a predefined distance from the power take off  623 . In some implementations, processor  32 , following instructions contained in medium  540 , may utilize images captured by any of cameras  530  (plus any other sensors provided on vehicle  524 ) to control the actuation of an attachment/implement  225 . For example, processor  32  may identify the various locations of feed troughs and may control the actuation of an auger or other device of a pulled or attached implement  225  to unload feed at particular times and locations into the feed troughs. As a result, processor  32  facilitates the automation of tasks. 
     In some implementations, indicators  570  or  572  may provide information to an operator  42  in circumstances where the operator&#39;s current identified position would prevent him or her from viewing or determining such information. For example, an operator positioned at the front of vehicle  524  may be provided with information on indicators  570 - 1  or  570 - 2  about the state of an implement  225  at the rear of vehicle  524 . An operator positioned at the rear of vehicle  524  or at one side of vehicle  524  may be provided with status information on selected indicators  570  about the state of an implement, another operator or environment at the front of vehicle  524  or at the other side of vehicle  524 . As a result, system  520  provides an operator remote from vehicle  524  with information that may not otherwise be viewable given the operator&#39;s current position relative to vehicle  524 . 
     Although the present disclosure has been described with reference to example implementations, workers skilled in the art will recognize that changes may be made in form and detail without departing from disclosure. For example, although different example implementations may have been described as including features providing various benefits, it is contemplated that the described features may be interchanged with one another or alternatively be combined with one another in the described example implementations or in other alternative implementations. Because the technology of the present disclosure is relatively complex, not all changes in the technology are foreseeable. The present disclosure described with reference to the example implementations and set forth in the following claims is manifestly intended to be as broad as possible. For example, unless specifically otherwise noted, the claims reciting a single particular element also encompass a plurality of such particular elements. The terms “first”, “second”, “third” and so on in the claims merely distinguish different elements and, unless otherwise stated, are not to be specifically associated with a particular order or particular numbering of elements in the disclosure.