{
  "$type": "site.standard.document",
  "description": "A body swing collision avoidance system and method for a machine with steerable traction devices for moving the machine. Sensors monitor obstacles around the machine. A commanded body swing path is calculated based on operator steering commands. If an obstacle is in the commanded body swing path…",
  "path": "/patents/1344978",
  "publishedAt": "2023-06-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "DEERE & COMPANY"
  ],
  "textContent": "A body swing collision avoidance system and method for a machine with steerable traction devices for moving the machine. Sensors monitor obstacles around the machine. A commanded body swing path is calculated based on operator steering commands. If an obstacle is in the commanded body swing path, the system automatically adjusts the steering commands to avoid collision with the obstacle. A time to collision can be calculated, and the steering commands adjusted only when it is below a threshold. Adjusting the steering commands to avoid collision can include determining propel and steer components based on the steering commands; and if propel is greater than a threshold then adjusting the steering commands to adjust the swing path to avoid collision; and if propel is less than the threshold then adjusting the steering commands to slow the machine to avoid collision.",
  "title": "MULTIPLE MODE BODY SWING COLLISION AVOIDANCE SYSTEM AND METHOD"
}