Speed management

Speed settings are assigned to certian implement or can be assigned to certain route.

It is very important to remember that when choosing another implement from the list.

System has also built-in safety feature when speed exceeds 15 km/h. In this case system will stop immediately the tractor and switch off the engine. This protection prevents from sudden speed exceeding when inadequate gear was selected for autonomous driving or in case of system failure.

In the SPEED MANAGEMENT menu operator has two menus:

• driving speed menu – settings for adjusting speed values for straight sections and turns.
• slowing in turns menu – settings for adjusting the distance before and after turn to slow down and speed up.

This menu is divided into:

• straight sections which is presented in green colour
• in turns which is presented in red colour.

Speed can be set individually for straight sections and turns. It means system will slow down the tractor in turns if turn condition is fulfilled (read more in Turn definition) and will drive the tractor at the straight sections of the route.

If AutoDrive system has no precise speed information from the vehicle (it is not connected by CANBUS with the tractor) and speed source is GNSS receiver then speed in turns may be not precise as expected. It is recommended then to use Fixed RPM or Fixed ratio (does not apply to Fendt Vario). When this option is active then AutoDrive system will not use speed in turns value but will set fixed engine RPM or transmission ratio. Speed in turns value will be only a reference for detecting speed error if tractor is not able to achieve this speed.

PowerShift. If tracotr is equipped in powershift and AD system is connected to it then speed in turns can be reduced also with powershift if this is enabled in the menu. When turn is detected then AD will change powershift to turtle mode and when there is straight section detected then AD will change powershift to rabbit mode.

Green slider applies to set the distance when AD system will slow down the vehicle when approaching the turn. Positive values means that deceleration will begin before the turn and negative values means that deceleration will begin during the turn. Value is the distance to the point where straight section ends and turn begins.

Red slider applies to set the distance when AD system will accelerate the vehicle. Negative values means that acceleration will begin when tractor is still driving in turn and positive values means that acceleration will begin when tracotr has already passed the turn and it is on the straight section of the route. Value is the distance to the point where turn ends and straight section begins.

On the map straight sections are marked with narrow triangles and turns are marked with wide triangles.

When selecting a route for autonomous driving it is possible to set individual speed only for that certain route. This speed setting refers only to straight sections of the route. Speed in turns is taken from general speed setting menu. Normally, when selecting a route, speed is set to default which means that general speed settings are applied. Operator can change default to specific value. It can be set only once before loading the route so next time speed will be set back to default or it can be saved so next time when loading the route it will be already set to demanded value.

In the TURN DEFINITION menu, operator can specify the TF value (Turning Facotr) above which the route is recognized by the algorithm as a turn. By default it is set to 0.10.

Turning Factor is the present turn value to full turn value ratio.

0.10 value means that turn is recognized when actual turn is more than 10% of maximumm turn.

To high TF value can cause that turn will be recognized too late and decelaration process will start also too late and ultimately vehicle will drive off the path. When you want to adjust the moment of deceleration and acceleration in turns consider first setting proper vaules in SLOWING IN TURNS menu.

When driving autonomously speed is all the time controlled by the AutoDrive system. Reference values for speed control are:

• speed at straight sections
• speed in turns

When conditions from SPEED DEVIATION menu are met AutoDrive system will stop the vehicle immediately and will report speed error in the app or by SMS.