EP4716455A1

EP4716455A1 - Implement drift compensation system and method

Info

Publication number: EP4716455A1
Application number: EP24726344.5A
Authority: EP
Inventors: Keith A MARTIN; Hannes MUECKLICH; Emile KOPPES
Original assignee: AGCO International GmbH
Current assignee: AGCO International GmbH
Priority date: 2023-05-22
Filing date: 2024-05-03
Publication date: 2026-04-01
Also published as: WO2024241124A1; GB202307662D0

Abstract

A tilt compensation system includes a towing vehicle configured to tow an implement, a positioning device for determining a position of the towing vehicle, an inclination sensor for determining a tilt of the towing vehicle, a user interface for receiving a user input indicating a tilt compensation value and an automated guidance system. The automated guidance system is configured to operate the towing vehicle to follow a wayline using positioning information from the positioning device and automatically operate the towing vehicle to follow a compensated path uphill from and aligned with the wayline in response to a signal from the inclination sensor indicating a tilt of the towing vehicle. The compensated path is separated from the wayline by a compensation distance determined, at least in part, by the tilt compensation value received via the user interface.

Description

IMPLEMENT DRIFT COMPENSATION SYSTEM AND METHOD

FIELD

[0001] Embodiments of the present invention relate to the operation of mobile machines used in the agriculture and construction industries. More particularly, embodiments relate to a system and method for compensating for implement drift due to sloping ground surfaces.

BACKGROUND

[0002] In the agriculture and construction industries it is common to use a towing vehicle, such as a tractor, to pull an implement, such as a plow or a disc. It is also common for towing vehicles to include automated guidance systems that automatically operate the towing vehicle to follow a predefined target path or “wayline”, thus eliminating the need for a human operator to constantly steer the vehicle.

[0003] When a towing vehicle pulls an implement along a sloped surface that causes sideways tilt or “roll” of the towing vehicle and implement, the implement may tend to slide downhill rather than follow directly behind the towing vehicle. This is referred to as implement drift or implement sidehill drift and can present a problem when using automated guidance because the automated guidance system operates the towing vehicle to maintain the vehicle centered on the target wayline but the implement ends up offset from the wayline. The steeper the incline and the greater the distance between the towing vehicle and a working portion of the implement, the more the implement tends to drift. Other factors that may influence implement drift include implement type and the nature of the work being performed.

[0004] The above section provides background information related to the present disclosure which is not necessarily prior art.

SUMMARY

[0005] A system according to an embodiment of the invention comprises a towing vehicle configured to tow an implement, a positioning device for determining a position of the towing vehicle, an inclination sensor for determining a tilt of the towing vehicle, a user interface for receiving a user input indicating a tilt compensation value and an automated guidance system for automatically operating the towing vehicle to follow a wayline using positioning information from the positioning device. The automated guidance system is further configured to automatically operate the towing vehicle to follow a compensated path uphill from and aligned with the wayline in response to a signal from the inclination sensor indicating a tilt of the towing vehicle, the compensated path being separated from the wayline by a compensation distance determined, at least in part, by the tilt compensation value received via the user interface.

[0006] In some embodiments, the tilt compensation is a distance per degree of tilt of the towing vehicle. The distance per degree of tilt may be between zero centimeters per degree of tilt and fifty centimeters per degree of tilt.

[0007] In some embodiments, the automated guidance system is configured to operate the towing vehicle to move off the wayline to the compensated path according to a time delay after receiving the signal from the inclination sensor indicating the tilt of the towing vehicle or according to a distance from a location where the towing vehicle received the signal from the inclination sensor indicating the tilt of the towing vehicle. The time delay may depend on the ground speed of the towing vehicle and/or a distance between the towing vehicle and a working portion of the implement.

[0008] In some embodiments, the automated guidance system is configured to automatically operate the towing vehicle to follow the compensated path only in response to multiple signals from the inclination sensor indicating a tilt of the towing vehicle. In some embodiments, the automated guidance system is configured to automatically operate the towing vehicle to follow the compensated path only in response to an average of multiple signals from the tilt sensor indicating a tilt of the towing vehicle.

[0009] In some embodiments, the automated guidance system is configured to receive an updated tilt compensation value via the user interface while following the compensated path, and automatically operate the towing vehicle to follow a new compensated path, the new compensated path being separated from the wayline by a compensation distance determined, at least in part, by the updated tilt compensation value received via the use interface. [0010] A method of operating a towing vehicle according to embodiments of the invention comprises receiving, through a user interface of the towing vehicle, a tilt compensation value; receiving, from an inclination sensor of the towing vehicle, a signal indicating a tilt of the towing vehicle; receiving, from a positioning device of the towing vehicle, positioning information; automatically operating the towing vehicle, using an automated guidance system, to follow a wayline using position information from the positioning device; and automatically operating the towing vehicle, using the automated guidance system, to follow a compensated path uphill from and aligned with the wayline in response to a signal from the inclination sensor indicating a tilt of the towing vehicle, the compensated path being separated from the wayline by a compensation distance determined, at least in part, by the tilt compensation value received through the user interface.

[0011] This summary is provided to introduce a selection of concepts in a simplified form that are further described in the detailed description below. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the present invention will be apparent from the following detailed description of the embodiments and the accompanying drawing figures.

DRAWINGS

[0012] Embodiments of the present invention are described in detail below with reference to the attached drawing figures, wherein:

[0013] Fig 1 is a plan view of a tractor and implement in accordance with an embodiment of the invention.

[0014] Fig 2 is an electronic system of the tractor of Fig. 1.

[0015] Fig 3 is the electronic system of Fig. 2 illustrating a portion of the system used in an automated guidance system.

[0016] Fig 4 illustrates a portion of a user interface that is part of the electronic system of Fig. 2.

[0017] Fig 5 is a rear elevation view of the tractor of Fig. 1 illustrating the tractor operating on a sloped ground surface. [0018] Fig 6 is a plan view of the tractor and implement of Fig. 1 operating on a sloped ground surface and illustrating implement drift.

[0019] Fig 7 is the tractor and implement of Fig. 6 illustrating travel paths of the tractor and the implement.

[0020] Fig 8 is a block diagram of a method of tilt compensation.

[0021] Fig 9 is the tractor and implement of Fig. 7, further illustrating a compensated path calculated by the automated guidance system.

[0022] Fig 10 illustrates the tractor and implement of Fig. 1 wherein the tractor is following the compensated path.

[0023] The drawing figures do not limit the present invention to the specific embodiments disclosed and described herein. The drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the invention.

DESCRIPTION

[0024] The following detailed description of embodiments of the invention references the accompanying drawings. The embodiments are intended to describe aspects of the invention in sufficient detail to enable those skilled in the art to practice the invention. Other embodiments can be utilized and changes can be made without departing from the spirit and scope of the invention as defined by the claims. The following description is, therefore, not to be taken in a limiting sense. Further, it will be appreciated that the claims are not necessarily limited to the particular embodiments set out in this description.

[0025] In this description, references to “one embodiment”, “an embodiment”, or “embodiments” mean that the feature or features being referred to are included in at least one embodiment of the technology. Separate references to “one embodiment”, “an embodiment”, or “embodiments” in this description do not necessarily refer to the same embodiment and are also not mutually exclusive unless so stated and/or except as will be readily apparent to those skilled in the art from the description. For example, a feature, structure, act, etcetera described in one embodiment may also be included in other embodiments, but is not necessarily included. Thus, the present technology can include a variety of combinations and/or integrations of the embodiments described herein. [0026] When elements or components are referred to herein as being “connected” or “coupled,” the elements or components may be directly connected or coupled together or one or more intervening elements or components may also be present. In contrast, when elements or components are referred to as being “directly connected” or “directly coupled,” there are no intervening elements or components present.

[0027] Embodiments of the present invention address challenges associated with operating machines on sloped surfaces by reducing or eliminating the effects of implement drift. According to some embodiments a system comprises a towing vehicle configured to tow an implement, a positioning device for determining a position of the towing vehicle, an inclination sensor for determining a tilt of the towing vehicle, a user interface for receiving a user input from a user indicating an amount of tilt compensation, and an automated guidance system. The automated guidance system automatically operates the towing vehicle to follow a wayline and is configured to automatically operate the towing vehicle to follow a compensated path uphill from and aligned with the wayline in response to a signal from the inclination sensor indicating a tilt of the towing vehicle. The compensated path is separated from the wayline by a compensation distance determined, at least in part, by the amount of tilt compensation received via the user interface.

[0028] Turning now to the drawing figures, and initially Fig. 1, a towing vehicle constructed in accordance with embodiments of the invention is illustrated. The illustrated towing vehicle is a tractor 10, and the tractor 10 is attached to and pulling an implement 12. The implement 12 is pivotally attached to a hitch 14 of the tractor 10. A working portion 16 of the implement 12 is separated from the tractor 10 by a distance 18, wherein the working portion 16 of the implement is a portion of the implement 12 that performs work, such as the portion of a tillage implement that engages the ground.

[0029] The tractor 10 includes an electronic system 20 illustrated in Fig. 2. The system 20 broadly includes a controller 22, a positioning device 24, a user interface 26, one or more sensors 28, one or more actuators 30, one or more storage components 32, one or more input/out ports 34, and a communications gateway 36.

[0030] The positioning device 24 uses one or more technologies to determine a location of the tractor 10. The positioning device 24 may include a global navigation satellite system (GNSS) receiver, such as a GNSS receiver configured to receive signals from one or more positioning systems such as the United States’ global positioning system (GPS), the European GALILEO system, the Chinese Beidou system and/or the Russian GLONASS system, and to determine a location of the tractor 10 using the received signals. Alternatively, the positioning device 24 may use light detection and ranging (LiDAR) technology, radio detecting and ranging (RADAR) technology, one or more cameras, or a combination thereof instead of a GNSS receiver to determine position. The positioning device 24 may also include an inertial measurement component to assist in determining the location of the tractor 10. The user interface 26 includes components for receiving information, instructions or other input from a user and may include buttons, switches, dials, and microphones, as well as components for presenting information or data to users, such as displays, light-emitting diodes, audio speakers and so forth. The user interface 26 may include one or more touchscreen displays capable of presenting visual representations of information or data and receiving instructions or input from the user via a single display surface.

[0031] The sensors 28 may be associated with any of various components or functions of the tractor 10 including, for example, various elements of the engine, transmission(s), and hydraulic and electrical systems. One or more of the sensors 28 is or includes an inclination sensor configured to determine a tilt of the tractor 10. One or more of the sensors 28 may be configured and positioned to detect information about the environment in which the tractor 10 is operating including temperature, ambient light, objects external to the tractor 10 and a ground surface. The actuators 30 are configured and placed to drive certain functions of the tractor 10 and may take virtually any form but are generally configured to receive control signals or instructions from the controller 22 (or other component of the system 20) and to generate a mechanical response to the control signals or instructions. By way of example, the sensors 28 and actuators 30 may be used in automated steering of the tractor 10 wherein the sensors 28 detect a current position or state of steered wheels and the actuators 30 drive steering action of the steered wheels.

[0032] The controller 22 is a computing device or system and includes one or more integrated circuits programmed or configured to implement the functions described herein and associated with the tractor 10. By way of example, the controller 22 may be a digital controller and may include one or more general purpose microprocessors or microcontrollers, programmable logic devices, application specific integrated circuits or other computing devices. The controller 22 may include multiple computing components, such as electronic control units, placed in various different locations on the tractor 10, and may include one or more computing devices connected to the system 20 through the I/O port 34 and/or the gateway 36. The controller 22 may also include one or more discrete and/or analog circuit components operating in conjunction with the one or more integrated circuits or computing components. Furthermore, the controller 22 may include or have access to one or more memory elements (not illustrated) operable to store executable instructions, data, or both. The storage component 32 stores data and preferably includes a non-volatile storage medium such as solid state, optic or magnetic technology. The storage component 32 may store, for example, map information relating to a field in which the tractor 10 is operating or wayline information for use in automated guidance, as explained below in greater detail.

[0033] The communications gateway 36 includes one or more wireless transceivers configured to communicate with external machines or devices using wireless communications technology. The communications gateway 36 may include one or more wireless transceivers configured to communicate according to one or more wireless communications protocols or standards, such as one or more protocols based on the IEEE 802.11 family of standards (“Wi-Fi”), the Bluetooth wireless communications standard, a 433 MHz wireless communications protocol or a protocol for communicating over a cellular telephone network. Alternatively or additionally, the communications gateway 36 may include one or more wireless transceivers configured to communicate according to one or more proprietary or non-standardized wireless communication technologies or protocols, such as proprietary wireless communications protocols using 2.4 GHz or 5 GHz radio signals. Thus, the communications gateway 36 enables wireless communications with other machines such as other harvesters or tractors, with external devices such as laptop or tablet computers or smartphones, and with external communications networks such as a cellular telephone network or Wi-Fi network.

[0034] It will be appreciated that, for simplicity, certain elements and components of the system 20 have been omitted from the present discussion and from the diagram illustrated in Fig. 2. A power source or power connector is also associated with the system 20, for example, but is conventional in nature and, therefore, is not discussed herein.

[0035] The tractor 10 includes an automated guidance system capable of automatically operating the tractor 10 to follow a predetermined path known as a wayline. With reference to Fig. 3, an exemplary automated guidance system 37 is included in, or implemented by, the electronic system 20 using, for example, the controller 22, the storage component 32, the positioning device 24, the user interface 26, at least one of the sensors 28 and at least one of the actuators 30. The automated guidance system 37 may use the user interface 26 to receive information from a user such as a width of the implement 12 attached to the tractor 10, selection or definition of a wayline, commands to engage and disengage automated guidance and/or to receive a tilt compensation value, as discussed below.

[0036] Automated guidance of a machine involves generating or acquiring a target path known as a wayline, determining a location of the machine relative to the wayline and automatically steering the machine to follow the wayline. While the machine travels along the wayline the automated guidance system continuously detects the machine’s position and compares it to the wayline. The system identifies discrepancies between the machine’ s position and the wayline as crosstrack errors. If the machine is ten centimeters to the left of the wayline the crosstrack error is ten centimeters and the guidance system corrects the error by steering the machine toward the right ten centimeters. The wayline may be generated by an operator of the machine by, for example, designating a starting point and an ending point of the wayline or designing a starting point and a direction of travel. The wayline may also be stored and retrieved from a previous operation, received from another agricultural machine or imported from an external computer device, such as an external computer running farm management software that generates the wayline.

[0037] The automated guidance system 37 is part of the tractor 10 and is included in the electronic system 20 as described above. Automated guidance software stored in the storage component 32, for example, enables the controller 22 to determine or acquire the wayline, determine the location of the tractor 10 using the position determining component 24, compare the tractor’s location with the location of the wayline, and automatically steer the tractor 10 using data from the one or more sensors 28 to determine a steering angle of the steerable wheels and using the one or more actuators 30 to change the steering angle of the wheels, if necessary, to steer the machine to or along the wayline. During operation the geographic location of the tractor 10 is continuously determined using the position determining device 24 , and the location of a navigation point of the tractor 10 (for example, a point located between rear wheels of the tractor 10) is continuously compared with the location of the way line. Steering of the tractor 10 is automatically controlled so that the navigation point of the tractor 10 follows the wayline.

[0038] The automated guidance system 37 is configured to compensate for implement drift resulting from the tractor 10 operating on a sloped surface. To compensate for implement drift the automated guidance system 37 receives user input through the user interface 26 indicating a tilt compensation value. An exemplary element of the user interface 26 is illustrated in Fig. 4, wherein the element includes a slider 38 that a user can manipulate to indicate a tilt compensation value. If the user positions a marker 40 at the left end 42 the tilt compensation is a minimum value, if the user positions the marker 40 at the right end 44 the tilt compensation is a maximum value. In the exemplary user interface illustrated in Fig. 4 the marker 40 is positioned at a point on the slider 38 corresponding to thirty-six percent of the distance between the left end 42 and the right end 44 such that the tilt compensation value will be thirty-six percent of the maximum value. The current tilt compensation value percentage (thirty-six percent in the user interface illustrated in Fig. 4) is visually indicated at or on the marker 40 and near the right end 44. A first icon 46 is located near the left end 42 of the slider 38 indicating the minimum tilt compensation value with a depiction of a tractor on a wayline and an implement pulled by the tractor drifted off the wayline. A second icon 48 is located near the right end 44 of the slider 38 indicating the maximum tilt compensation value with a depiction of a tractor off a wayline and an implement pulled by the tractor drifted from the tractor but on the wayline.

[0039] By way of example and not limitation, the minimum tilt compensation value may be between zero and five centimeters per degree of tilt and the maximum tilt compensation value may be between ten and fifty centimeters per degree of tilt. Some exemplary tilt compensation values include five centimeters, ten centimeters, fifteen centimeters, twenty centimeters and twenty-five centimeters per degree of tilt. [0040] The automated guidance system 37 uses the tilt compensation value to operate the tractor 10 follow a compensated path that compensates for implement drift due to tilt of the tractor 10 and implement 12 when operating on a sloping surface. With particular reference to Figs. 5 and 6, the tractor 10 is illustrated operating on a ground surface 50 with a slope of 0 degrees such that the tractor 10 and implement 12 are tilted laterally by 0 degrees toward the left in Fig. 5 and in the direction of the arrow 52 in Fig. 6. For simplicity of illustration the implement 12 is omitted from Fig. 5. A problem associated with implement drift is illustrated in Figs. 6 and 7, wherein the implement 12 does not follow the same path as the tractor 10 and, therefore does not work the desired area of land. The tractor 10 follows a predetermined target wayline 54 while the implement follows a path 56 downhill from the way line 54. If not addressed, this implement drift results in overlapping swaths on one side and/or a gap between swaths on the other side.

[0041] The automated guidance system 37 is configured to automatically operate the tractor 10 to follow a way line, such as the wayline 54, as explained above. The automated guidance system 37 is further configured to automatically operate the tractor 10 to follow a compensated path uphill from and aligned with the wayline 54 in response to a signal from the inclination sensor 28 indicating a tilt of the tractor 10. The compensated path is separated from the wayline by a compensation distance determined, at least in part, by the tilt compensation value received via the user interface 26.

[0042] A flow diagram illustrated in Fig. 8 illustrates exemplary steps in a method of compensating for the drift of the implement 12. The automated guidance system 37 automatically operates the tractor 10 to follow the wayline 54, as depicted in block 60. When the tractor 10 travels over sloping ground the system detects tilt via the inclination sensor 28, as depicted in block 62. The system receives the tilt compensation value from the user, as depicted in block 64, and determines the compensation distance using the tilt compensation value, as depicted in block 66. The compensation distance is calculated as an amount of deviation per degree of tractor roll or tilt, such has ten centimeters per degree of roll. Therefore, if the tilt compensation value is ten centimeters per degree of roll and the tractor 10 is operating at an angle 0 of three degrees, the compensation distance is thirty centimeters. [0043] The system operates the tractor 10 to follow a compensated path using the tilt compensation value, as depicted in block 68. As depicted in Fig. 9, the compensated path 72 is generally aligned with and uphill from the wayline 54. The compensated path 72 is separated from the wayline 54 by the compensation distance calculated in block 66. The system automatically operates the tractor 10 to follow the compensated path 72, as depicted in block 70 of Fig. 8 and in Fig. 10. As illustrated in Fig. 10, when the tractor 10 follows the compensated path 72 it is positioned uphill from the original wayline 54 such that the implement 12, which is drifting downhill, follows the original wayline 54. The guidance system 37 may operate the tractor 10 to follow the compensated path by generating a false crosstrack error corresponding to the compensation distance. If the guidance system 37 determines that the compensation distance is twenty centimeters to the right of the tractor 10, for example, the guidance system 37 may generate a false crosstrack error of twenty centimeters to the left of the wayline 54 so that the system responds by steering the tractor 10 toward the right twenty centimeters. In other implementations, the guidance system 37 may generate a new wayline corresponding to the path 72 or adjust the wayline 54 to correspond with the path 72. All of these implementations are within the ambit of the present invention as recited in the claims.

[0044] As the tractor 10 continues operating on the sloping ground surface 50 the system may detect, via the inclination sensor 28, that the angle 0 has changed. When the system detects this angle change it responds by adjusting the compensation distance and the location of the compensated path 72. If the angle 0 increases (that is, the slope becomes steeper) the system responds by increasing the compensation distance and moving the compensated path further uphill from the original wayline 54. If the angle 0 decreases (that is, the slope becomes less steep) the system responds by decreasing the compensation distance and moving the compensated path closer to the original wayline 54.

[0045] A user may submit the tilt compensation value (block 64 of Fig. 8) before performing field operations or at any time during the operation of the tractor 10. The user may indicate an initial compensation value, for example, based on past experience, or may allow the system to begin operating using a default compensation value. During operation of the tractor 10 when it begins to travel on a sloped ground surface the guidance system responds by operating the tractor 10 to follow the compensated path 72, thus compensating for implement drift. The user may notice, however, that the implement 12 is not following precisely the desired swath — it may be uphill or downhill from the desired swath. The user may then correct the error by adjusting the tilt compensation value via the user interface 26. The system allows the user to change the tilt compensation value in real time and responds in real time by determining a new compensation distance based on the adjusted compensation value, generating a new compensated path and following the new compensated path.

[0046] In some embodiments, the automated guidance system 37 is configured to operate the tractor 10 or other towing vehicle to move to the compensated path 72 according to a time delay after receiving the signal from the inclination sensor 28 indicating the tilt of the tractor 10 or according to a distance from a location where the tractor 10 received the signal from the inclination sensor 28 indicating the tilt of the tractor 10. By way of example and with reference to Fig. 9, the automated guidance system 37 may detect tilt of the tractor 10 at a first location 90 and then implement a gradual transition to the compensated path 72 such that the tractor 10 reaches the compensated path 72 at a second location 92. The second location 92 may be separated from the first location 90 by a distance of between zero and fifteen meters. In particular, the distance may be five meters, eight meters or ten meters. This function is helpful to ensure that the implement remains on the wayline 54 and that the tractor 10 is not shifted too soon. The time delay may depend on a ground speed of the tractor 10, on the distance 18 between the tractor 10 and the working portion 16 of the implement 12, or both.

[0047] In some embodiments, the automated guidance system 37 is configured to automatically operate the tractor 10 or other towing vehicle to follow the compensated path 72 only in response to multiple signals from the inclination sensor 28 indicating a tilt of the tractor 10. The system may be configured to average multiple signals from the inclination sensor 28 and follow the compensated path 72 only when the average indicates a tilt of the tractor 10. This functionality is helpful to avoid responding to temporary tilt measurements from the tilt sensor caused by, for example, small undulations of the ground surface or rocking of the tractor 10.

[0048] Although the invention has been described with reference to the preferred embodiment illustrated in the attached drawing figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the invention as recited in the claims.

[0049] In some embodiments all of the components of the system 20 are contained on or in the tractor 10, while in other embodiments one or more of the components of the system 20 may be external to the tractor 10. In one embodiment, for example, some of the components of the system 20 are contained on or in the tractor 10 while other components of the system are contained on or in the implement 12. In that embodiment, the components associated with the tractor 10 and the components associated with the implement 12 may communicate via wired or wireless communications according to a local area network such as, for example, a controller area network. In another embodiment, one or more components of the system 20 may be located separately or remotely from the tractor 10 and any implements associated with the tractor 10. In that embodiment, the system 20 may include wireless communications components (e.g., the gateway 36) for enabling the tractor 10 to communicate with another machine or a remote computer, computer network or system.

[0050] The claims at the end of this patent application are not intended to be construed under 35 U.S.C. § 112(f) unless traditional means-plus-function language is expressly recited, such as “means for” or “step for” language being explicitly recited in the claim(s).

[0051] Having thus described the preferred embodiment of the invention, what is claimed as new and desired to be protected by Letters Patent includes the following:

Claims

1. A system comprising: a towing vehicle configured to tow an implement; a positioning device for determining a position of the towing vehicle; an inclination sensor for determining a tilt of the towing vehicle; a user interface for receiving a user input indicating a tilt compensation value; and an automated guidance system for automatically operating the towing vehicle to follow a wayline using positioning information from the positioning device, the automated guidance system further configured to automatically operate the towing vehicle to follow a compensated path uphill from and aligned with the wayline in response to a signal from the inclination sensor indicating a tilt of the towing vehicle, the compensated path being separated from the wayline by a compensation distance determined, at least in part, by the tilt compensation value received via the user interface.

2. The system as set forth in claim 1, the tilt compensation value being a distance per degree of tilt of the towing vehicle.

3. The system as set forth in claim 2, the distance per degree of tilt being between zero centimeters per degree of tilt and fifty centimeters per degree of tilt.

4. The system as set forth in claim 2, the distance per degree of tilt being between five centimeters per degree of tilt and twenty centimeters per degree of tilt.

5. The system as set forth in claim 1, the automated guidance system configured to operate the towing vehicle to move off the wayline to the compensated path according to a time delay after receiving the signal from the inclination sensor indicating the tilt of the towing vehicle or according to a distance from a location where the towing vehicle received the signal from the inclination sensor indicating the tilt of the towing vehicle.

6. The system as set forth in claim 5, a length of the time delay depending on a ground speed of the towing vehicle.

7. The system as set forth in claim 5, a length of the time delay depending on a ground speed of the towing vehicle and a distance between the towing vehicle and a working portion of the implement.

8. The system as set forth in claim 1, the automated guidance system configured to automatically operate the towing vehicle to follow the compensated path only in response to multiple signals from the inclination sensor indicating a tilt of the towing vehicle.

9. The system as set forth in claim 1, the automated guidance system configured to automatically operate the towing vehicle to follow the compensated path only in response to an average of multiple signals from the tilt sensor indicating a tilt of the towing vehicle.

10. The system as set forth in claim 1, the automated guidance system further configured to - receive an updated tilt compensation value via the user interface while following the compensated path, and automatically operate the towing vehicle to follow a new compensated path, the new compensated path being separated from the wayline by a compensation distance determined, at least in part, by the updated tilt compensation value received via the use interface.

11. A method of operating a towing vehicle comprising: receiving, through a user interface of the towing vehicle, a tilt compensation value; receiving, from an inclination sensor of the towing vehicle, a signal indicating a tilt of the towing vehicle; receiving, from a positioning device of the towing vehicle, positioning information; automatically operating the towing vehicle, using an automated guidance system, to follow a wayline using position information from the positioning device; and automatically operating the towing vehicle, using the automated guidance system, to follow a compensated path uphill from and aligned with the wayline in response to a signal from the inclination sensor indicating a tilt of the towing vehicle, the compensated path being separated from the wayline by a compensation distance determined, at least in part, by the tilt compensation value received through the user interface.

12. The method as set forth in claim 11, the tilt compensation value being a distance per degree of tilt of the towing vehicle.

13. The method as set forth in claim 12, the distance per degree of tilt being between zero centimeters per degree of tilt and fifty centimeters per degree of tilt.

14. The method as set forth in claim 12, the distance per degree of tilt being between five centimeters per degree of tilt and twenty centimeters per degree of tilt.

15. The method as set forth in claim 11, further comprising operating the towing vehicle, using an automated guidance system, to move off the wayline to the compensated path according to a time delay after receiving the signal from the inclination sensor indicating the tilt of the towing vehicle or according to a distance from a location where the towing vehicle received the signal from the inclination sensor indicating the tilt of the towing vehicle.

16. The method as set forth in claim 15, a length of the time delay depending on a ground speed of the towing vehicle.

17. The method as set forth in claim 5, a length of the time delay depending on a ground speed of the towing vehicle and a distance between the towing vehicle and a working portion of the implement.

18. The method as set forth in claim 11, further comprising automatically operate the towing vehicle, using the automated guidance system, to follow the compensated path only in response to multiple signals from the inclination sensor indicating a tilt of the towing vehicle.

19. The method as set forth in claim 11, further comprising automatically operate the towing vehicle, using the automated guidance system, to follow the compensated path only in response to an average of multiple signals from the tilt sensor indicating a tilt of the towing vehicle.

20. The method as set forth in claim 11, further comprising using the automated guidance system to - receive an updated tilt compensation value via the user interface while following the compensated path, and automatically operate the towing vehicle to follow the new compensated path, the new compensated path being separated from the wayline by a compensation distance determined, at least in part, by the updated tilt compensation value received via the use interface.