AGRICULTURAL VEHICLE WITH AUTOMATIC STEERING AND PROCEDURE FOR VEHICLE STEERING Russian patent published in 2010 - IPC A01B69/00 

FIELD: agriculture.

SUBSTANCE: assembly consists of at least one steered running axle, of a track gauge designed for recording deviation between specified track of vehicle and its actual track, and of a device for automatic steering for corrective regulation of the steered running axle in case of deviation of turn angle (φ, ψ) of wheels of the steered running axle recorded with the track gauge with the purpose to decrease this deviation. Assembly of steering receives an input signal corresponding to incline (ϑ) of surface whereon vehicle moves in the direction across specified track of motion. The steering assembly is designed to respond to this incline ((ϑ) when correcting turn angle (φ, ψ) of wheels. The procedure for steering vehicle equipped with at least one first steered running axle consists in the following stages. Deviation (δ) between specified track of motion of vehicle and its actual track is recorded. Incline (ϑ) of surface whereon vehicle runs in the direction across the specified track is recorded. There is determined angle (φ) of wheels turn for the steered running axle on base of deviation (δ) and incline (ϑ); further angle (φ) of wheels turn on the axle is set.

EFFECT: upgraded accuracy of automatic steering, and accuracy of steering at moving on slope.

12 cl, 4 dwg