FIELD: agriculture.
SUBSTANCE: group of inventions relates to agriculture. Combination of movable vehicle and trailer includes self-propelled vehicle having one or more elements interacting with surface and a steering mechanism for controlling the direction of movement of at least one said surface-interacting member in order to cause changes in the movement direction of the vehicle, trailer, which is towed by a vehicle when the vehicle is moving forward, and pivotally connected to the vehicle, one or more sensors in the forward direction for reading one or more objects and/or artefacts, and/or conditions located in front of vehicle, one or more laterally acting sensors for reading one or more objects and/or artefacts, and/or conditions, which during reading are located sideways from vehicle and/or trailer and control and/or processing device, which operates depending on at least one output signal of one or more sensors acting in lateral direction, in order to take into account availability of one or more objects and/or artefacts, and/or conditions read by one or more sensors acting in lateral direction. One or more laterally acting sensors reads one or more objects and/or artefacts located on side of vehicle or trailer, during passage of combination of vehicle and trailer along first roll on field encountered by combination of vehicle and trailer. Control and/or treatment device induces combination of vehicle and trailer to account for presence of one or more objects and/or artefacts read by one or more sensors acting in lateral direction, during passage of combination of vehicle and trailer along subsequently encountered roll on the field. Method for controlling combination of vehicle and trailer includes steps of causing one or more sensors acting in lateral direction to read one or more objects and/or artefacts, and/or conditions, which during reading are located sideways from vehicle and/or trailer; causing control and/or processing device to operate depending on at least one output signal of one or more laterally acting sensors, in order to take into account presence of one or more objects and/or artefacts and/or conditions read by one or more sensors acting in lateral direction, actuating one or more sensors acting in the lateral direction, that one or more objects and/or artefacts located on the side of vehicle or trailer are read, during passage of combination of vehicle and trailer along first roll on field, which is met by combination of vehicle and trailer; and causing the control and/or processing device to actuate the steering mechanism to control the direction of movement of the combination of the vehicle and the trailer, in order to take into account availability of one or more objects and/or artefacts read by one or more sensors acting in lateral direction, during passage of combination of vehicle and trailer along subsequently encountered roll on the field.
EFFECT: improved control of vehicle with trailer.
14 cl, 2 dwg
