Patent Document ID: 9826674
Application ID: 14798098
Patent Status: 1

Claim One:
1. A method, comprising: receiving, by a vehicle guidance system, input corresponding to a first contour wayline to enable auto-steer traversal by the vehicle over a field; generating, by the vehicle guidance system, a plurality of contour waylines based on the first contour wayline; identifying, by the vehicle guidance system, a non-drivable section among the plurality of contour waylines, the identifying based on information corresponding to a time for the vehicle to reach a minimum turning radius; generating, by the vehicle guidance system, an alternative contour wayline section for the identified non-drivable section; and causing, by the vehicle guidance system, the auto-steer traversal by the vehicle of the field according to the plurality of contour waylines and according to the alternative contour wayline section for the non-drivable section, wherein identifying the non-drivable section comprises logically scanning the plurality of contour waylines with a defined geometrical area and detecting when the defined geometrical area intersects two contiguous sections of one of the plurality of contour waylines.