Patent ID: 8234033

Claim:
A method for automatically guiding a powered vehicle towing an agricultural implement for producing an even distribution of crop material in a bale, the method comprising: generating and storing a map of information representative of a location of a first path in a field representing a swath; receiving a location information representative of a position of the powered vehicle in the field; retrieving map data defining the first path; determining with an automatic guidance system a second path as a function of at least the first path to oscillate about the first path using an algorithm taking into account a width of the swath and a bale chamber width to determine an amplitude of the second path, the amplitude determined as a function of the bale chamber width such that each side of the chamber traverses the swath in an interval of the oscillation, the automatic guidance system generating a set of points on alternating sides of the first path, the points when connected form the second path such that multiple data points are located on each side of the first path; generating a steering command based on the determined second path; and executing the steering command by a steering system of the powered vehicle to steer the powered vehicle along a path that corresponds to the second path.