Traction machine device combination with driver assistance system

0001The invention relates to a tractor-device combination which includes a driver assistance system that is set up to allow optimization of the tractor operation alone or of the combination of tractor and device according to the preamble of claim 1.

0002Tractors on their own and the combination of tractors and attachments, such as transport trailers, self-loading wagons, rakes, turners, mowers, balers, tillage equipment, crop protection sprayers and fertilizer spreaders are highly complex and cost-intensive systems. It is therefore of great importance that such systems are operated efficiently.

0003It is common today that the tractor and the attached implement adapted to it are often optimized independently of each other and at different points. In addition, it is not checked whether the optimized parameters found for the tractor and the attachment also lead to an optimization of the operation of the combination of tractor and the respective attachment. The separate optimization of the operation of the tractor and the attachment assigned to it also requires a high level of specialist knowledge on the part of the tractor driver, since he has to make the essential settings such as engine, transmission and chassis settings on the tractor and basic settings on the attachment himself, with the machines themselves or the available operating instructions only partially support this process.

0004From the<patcit id="pcit0001" dnum="EP0838141A"><text>EP 0 838 141</text></patcit> For example, a system has become known in which the tillage implement designed as a plow is equipped with a job computer which is coupled via a bus system to the control and display unit of the towing vehicle designed as a tractor. The tractor driver can now specify setting parameters for the plow via the operating and display unit. This example already shows how extensive the operator's specialist knowledge must be, since in systems of this type the operator is required to specify setting parameters for both the towing vehicle and the attachment.

0005It is therefore the object of the invention to avoid the described disadvantages of the prior art and, in particular, to propose a driver assistance system that better captures and takes into account the complex relationships when optimizing the settings of a tractor and an adapted attachment, so that the optimization of the settings of the tractor and the respective attachment is is taken and, in combination, made effective and accelerated.

0006This object is achieved according to the invention by the characterizing features of claim 1.

0007By the agricultural machine arrangement comprising at least one tractor and at least one attachment adapted to the tractor, with a driver assistance system that optimizes the operation of the tractor and/or the respective attachment and has a computing unit and at least one display unit, with the computing unit generating information from machine-internal sensor systems, processes external information and information that can be stored in the processing unit, and wherein the tractor and the at least one attachment comprise a control device for controlling and regulating the tractor and/or the attachment, the attachment being designed as a soil cultivation device and the driver assistance system being structured in such a way that it forms an automatic tractor setting machine and an automatic implement setting machine and the respective automatic setting machines bring about an optimization of the mode of operation of the tractor machine and/or the at least one soil cultivation implement independently of one another or as a function of one another, with the respective automatic setting machine generating control signals, which are fed to a respective control unit and cause the activation of certain working elements of the tractor and the attachment there by generating corresponding control signals and the driver assistance system includes selectable optimization strategies and the selectable optimization strategies are tractor-specific strategies, attachment-specific strategies and/or a combination of both, it is ensured that that the adjustment optimization of a tractor and the respective attachment is made more effective and accelerated individually and in combination.

0008A particularly efficient mode of operation of a machine arrangement that is optimally adapted to specific working conditions is achieved in an advantageous development of the invention if the optimization of the mode of operation of the tractor and/or the at least one soil cultivation implement, depending on the selected optimization strategy, involves an optimization of working parameters of the tractor and/or or the soil tillage implement adapted to the tractor

0009In an advantageous embodiment of the invention, a particularly efficient mode of operation of a soil tillage implement can be achieved when the selectable optimization strategies include one or more of the optimization strategies "stubble cultivation", "power hop", "soil loosening", "evenness", "mixing", "seedbed preparation". , "crumbling" and "reconsolidation".

0010A significant improvement in driving comfort and a significant reduction in load-related machine wear can be achieved in an advantageous development of the invention if the selectable optimization strategy "Power Hop" reduces the load-dependent rocking of the machine arrangement and the working parameters are one or more of the following parameters: Tire air pressure on a front axle, tire pressure on a rear axle, ballasting.

0011A significant improvement in the rotting behavior of stubble is achieved in an advantageous embodiment of the invention when the selectable optimization strategy "stubble cultivation" causes a low stubble height and the working parameters include at least setting a minimum distance between the tools and the ground. In particular, this has the effect that the harvest residues are chopped up and mixed well with the soil, and a high driving speed can also be achieved.

0012An improvement in the soil structure, which ultimately improves the air and water permeability of the soil, is achieved in an advantageous embodiment of the invention in that the selectable optimization strategy "soil loosening" causes a loosening of the soil and the working parameters at least the penetration depth of the tools in the soil and /or the working speed and/or the tire pressure.

0013Since the selectable "Evenness" optimization strategy reduces unevenness in the ground by evening out the soil surface structure and the working parameters include guiding the tools over the ground, setting the tools and the working speed, it is also ensured that the negative effect of uneven ground in subsequent tillage processes such as about the sowing significantly reduced.

0014In an advantageous development of the invention, it is provided that the selectable "mixing" optimization strategy optimizes the mixing of soil and harvest residues and the working parameters are at least the so-called stubble fall and the working depth.

0015In a further advantageous embodiment of the invention, it is provided that the selectable optimization strategy "seedbed preparation" effects an optimization of the soil structure for a seedbed depending on the type of fruit to be sown and the working parameters include at least the crumb structure and/or the seedbed depth and/or the reconsolidation of the soil .

0016Because the selectable optimization strategy "crumbling" effects an optimization of the soil structure, in particular a soil depth-dependent size of the soil components, and the working parameters here also include at least the crumb structure and/or the seedbed depth and/or the reconsolidation of the soil, it is ensured that the soil good air and water permeability even at greater depths. This effect is also reinforced by the fact that in a further advantageous embodiment of the invention the selectable "reconsolidation" optimization strategy optimizes the soil density as a function of the soil depth and the at least one working parameter includes the reconsolidation of the soil.

0017The efficiency of a machine arrangement can also be increased particularly effectively if the selectable optimization strategies additionally or alternatively include one or more of the strategies "efficiency", "performance", "quality of work", "balance", "soil protection", "comfort" and/or "Custom" includes. It is advantageous if the "efficiency" optimization strategy optimizes the machine fuel consumption and/or the machine operating hours of the machine arrangement and/or the time required for so-called headland maneuvers;<ul id="ul0001" list-style="none" compact="compact"><li>the "performance" optimization strategy is aimed at increasing the processed area and/or processed mass of agricultural goods and/or the operating hours of the machine assembly;</li><li>the "quality of work" optimization strategy causes the optimization of setting parameters of the tractor and/or the tillage implement;</li><li>the "Balance" optimization strategy enables a variable relationship between "performance" and "efficiency" to be set;</li><li>the "soil protection" optimization strategy reduces the ground pressure and/or soil compaction caused by the machine arrangement and/or optimizes the tire air pressure, the ballast and the weight of the machine arrangement, the type of tires, the steering mode and/or the chassis slip;</li><li>the "comfort" optimization strategy brings about a user-defined setting of the vibration behavior and/or acceleration behavior and/or the volume of the machine arrangement;</li><li>the "User-defined" optimization strategy allows manual adjustment of the parameters stored in the strategies.</li></ul>

0018In an advantageous embodiment of the invention, the driver assistance system is designed in such a way that the tractor machine setting machine and the attachment setting machine form a common setting machine. This has the effect that the operation of even very complex machine arrangements can be optimized with one and the same driver assistance system.

0019Because the driver assistance system includes a set of rules assigned to the automatic tractor setting machine and the set of rules assigned to the automatic tractor setting machine optimizes the mode of operation of the tractor independently of the mode of operation of the attachment, it is achieved that the basic settings of a tractor per se can also be optimized with the driver assistance system according to the invention. In this context, it is advantageous if the set of rules assigned to the automatic tractor setting machine includes a set of rules for optimizing the mode of operation of the attachment, with the driver assistance system optimizing the mode of operation of the tractor and/or the attachment. Such a structure has the effect that the driver assistance system can optimize its operation on the basis of generally applicable relationships even without specific knowledge of the structure of a specific attachment. The optimization of the operation of an attachment using the driver assistance system according to the invention is also considerably more effective in this context if the set of rules for optimizing the operation of the attachment is based on the automatic tractor setting machine or on a set of rules provided by the respective attachment.

0020A highly flexible structure of the driver assistance system according to the invention results when the set of rules for optimizing the mode of operation of the tillage device is in a control device assigned to the tractor, preferably designed as a job computer, or in a control device assigned to the tillage device, preferably designed as a job computer and the tractor and the at least one soil cultivation device adapted to it comprise ISO-based control devices and the driver assistance system controls the setting machines formed by the control devices as a supervisor, so that the entire work process is optimized.

0021In an advantageous further development of the invention, the driver assistance system includes a "Purpose" module, in which the operator determines a purpose in a dialog, and the "Purpose" module includes one or more of the purposes "soil cultivation", "PTO work", "Transport work" and "front loading work" can include and in particular the parameters defined by the operator in the "Purpose" module and the work parameters generated after processing an optimization strategy are stored as a separate or common result data record and the data record or data records can be called up and edited repeatedly, with the or the data sets can be stored and retrieved in a personalized manner. The main effect of this is that the optimization of parameters is limited to those parameters that are important for the respective application and the standardized parameters for a specific application can already be specified in advance. Overall, this means that the optimization process is accelerated. In addition, the reproducibility and individualization of the process parameters optimized with the driver assistance system are improved.

0022In addition, the operation of a machine arrangement can also be further optimized in that the data set or data sets that can be stored include specific data sets for "working in the field" and "driving on the road" and the specific data sets for "working in the field" and "driving on the road" can be called up directly.

0023In addition to the speed of the optimization process, the acceptance of a driver assistance system-based deployment optimization can also be increased by the fact that the dialog between the driver assistance system and the operator takes place in natural language.

0024In an advantageous development of the invention, the dialog between the driver assistance system and the operator includes at least the following steps:<ul id="ul0002" list-style="none" compact="compact"><li>a) Activation of the driver assistance system by the operator or automatically when a critical situation is identified</li><li>b.) Activation of the "purpose" module, with the operator editing the purpose of use</li><li>c.) Activation of a "field/road" module, with the operator specifying "field" or "road" use or the driver assistance system (6) automatically recognizing the use</li><li>d.) Start of the "Optimization" module, in which case the operator is prompted to select the optimization strategy</li><li>e.) depending on the selected optimization strategy, activation of a dialog-guided optimization of working parameters of the tractor and/or of the soil cultivation device adapted to the tractor.</li></ul>

0025Further advantageous configurations are the subject matter of further dependent claims and are described below with reference to exemplary embodiments illustrated in several figures. Show it:<dl id="dl0001" compact="compact"><dt>figure 1</dt><dd>a schematic representation of the machine arrangement according to the invention</dd><dt>figure 2</dt><dd>a detailed view of the driver assistance system according to the invention</dd><dt>figure 3</dt><dd>a flow chart of the method according to which the driver assistance system according to the invention works</dd><dt>figure 4</dt><dd>a detailed view of the driver assistance system according to the invention<figref idref="f0002">figures 2</figref> and<figref idref="f0003">3</figref>.</dd><dt>figure 5</dt><dd>a detailed view of the driver assistance system according to the invention<figref idref="f0004">figure 4</figref></dd></dl>

0026In the<figref idref="f0001">1</figref> The agricultural machine arrangement 1 shown comprises a towing vehicle 3 designed as a tractor 2 and at least one attachment 5 adapted to the towing vehicle 3 and designed as a soil cultivation device 4 - here as a so-called cultivator. It is within the scope of the invention that the attachment 5 is designed as any attachment, such as a transport trailer, loading wagon, windrower, turner, mower, baler, other tillage equipment, such as a plough, crop protection sprayer or fertilizer spreader. The driver assistance system 6 according to the invention, which optimizes the operation of the towing vehicle 3 and/or the respective attachment 5, is assigned to the machine arrangement 1 in a manner yet to be described in more detail. The driver assistance system 6 according to the invention comprises at least one processing unit 7 and one display unit 8 , with the processing unit 7 processing information 9 generated by machine-internal sensor systems, external information 10 and information 11 that can be stored in the processing unit 7 . In addition, the tractor 3 and the attachment 5 are assigned one or more control devices 12, 13 for controlling and regulating the tractor 3 and/or the respective attachment 5. It is within the scope of the invention that the tractor 3 and the attachment 5 are assigned separate control devices 12, 13 for controlling the various working elements. It is within the scope of the invention that the display unit 8 can also be designed to be mobile, so that it can be carried along by the operator of the machine arrangement 1 .

0027According to the invention, driver assistance system 6 is structured in such a way that it forms an automatic tractor setting device 15 and an automatic attachment setting device 16, with the respective automatic setting devices 15, 16 independently of one another or depending on one another bringing about an optimization of the mode of operation of the tractor unit 3 and the at least one attachment device 5. According to the invention, this is achieved in that the respective automatic setting device 15, 16 generates control signals A, B, which are fed to the respective control unit 12, 13, where they control certain working elements 17, 18 of the tractor 3 and the attachment 5 by generating corresponding control signals C , D effect.

0028The driver assistance system 6 can also be designed in such a way that the tractor machine setting machine 15 and the attachment machine setting machine 16 form a common setting machine 19 . In addition, the driver assistance system 6 can include a set of rules 20 assigned to the automatic tractor setting machine 15 , which optimizes the mode of operation of the tractor 3 independently of the mode of operation of the attachment 5 . In a simple embodiment variant, the set of rules 20 assigned to the automatic tractor setting machine 15 can include a set of rules 21 for optimizing the mode of operation of the attachment 5 so that the driver assistance system 6 optimizes the mode of operation of the tractor 3 and the attachment 5 . The set of rules 21 for optimizing the mode of operation of the attachment 5 can be provided by the respective attachment 5 as an external set of rules 22 in addition to being stored directly in the automatic tractor setting machine 15 . It is also within the scope of the invention for the set of rules 21, 22 to optimize the mode of operation of the attachment 5 in a control device 12 assigned to the tractor 3, preferably embodied as a job computer 23, or in a control device 13 assigned to the attachment 5, preferably also embodied as a job computer 24 is deposited. It is also within the scope of the invention that the required sets of rules 20-22 are also stored centrally on a server 25, which is not explained in detail.

0029If, in an advantageous embodiment of the invention, the tractor 3 and the at least one adapted attachment 5 are assigned ISO-based control devices 26, 27 designed as a job computer, the driver assistance system 6 according to the invention can control the setting machines 15, 16 formed by the control devices 26, 27 as supervisor 28 , so that the entire work process is optimized.

0030Because the driver assistance system 6 according to the invention is designed in such a way that it includes an automatic tractor setting machine 15 and/or an automatic attachment device 16, which either act independently of one another or are combined in a common setting machine 19, which then works as a supervisor 28 in a preferred embodiment, a highly flexible assistance system created to optimize an agricultural machine assembly 1. A driver assistance system 6 structured in this way creates the possibility of assigning an automatic tractor setting machine 15 to the tractor 3, which, independently of an attachment 5 to be adapted, exclusively optimizes the operation of the tractor 3. Since the automatic tractor setting machine 15 also includes a set of rules 21 for optimizing the operation of the attachment 5 in addition to the set of rules 20 covering the optimization of the tractor 3, the driver assistance system 6 is able to optimize both the operation of the tractor 3 and the attachment 5. The set of rules 21 which brings about the optimization of the attachment 5 can be structured in such a way that it comprises a basic set of rules which is always stored in the driver assistance system 6 independently of the attachment 5 . In an expansion stage, the set of rules 22 for optimizing the operation of the respective attachment 5 can be transferred from the attachment 5 itself to the driver assistance system 6 . This has the advantage that the set of rules 22 can define the needs, the optimal working conditions, of the specific attachment 5 in a much more specific manner. If both the attachment 5 and the tractor 3 have control devices 12, 13 designed as job computers 23, 24, the control devices 12, 13 can be designed as so-called ISO-based control devices 26, 27, which each use the tractor-related and attachment-related set of rules 20, 22 include, so that the driver assistance system 6 controls the setting machines 15, 16 as a supervisor 28. In particular, this has the effect that the working operation of the entire machine arrangement can be optimized, taking into account a large number of complex relationships between the tractor 3 and one or more adapted attachments.

0031<figref idref="f0002">figure 2</figref> shows a schematic representation of the driver assistance system 6 according to the invention, with visualization, operating and structural aspects being combined in one and the same representation. The driver assistance system 6 includes a module “Purpose” 30 in which a purpose 32 is determined by the operator 31 in a dialog-guided manner, with the operator 31 being able to determine the purpose in advance, for example in the yard. In the exemplary embodiment shown, the "purpose" module 30 includes one or more of the purposes "soil cultivation" 33, "PTO work" 34, "transport work" 35 and "front loading work" 36 descriptive working parameters 37 are stored as a data set 38 . Data record 38 can include a basic data record 38a and a customer-specific data record 38b, with the basic data record including all data that does not necessarily have to be specifically edited by the operator and that is generally valid and therefore predefined for the task selected by the operator in the “Purpose of use” module 30 are.

0032The data set 38 generated in the "purpose of use" module 30 can be repeatedly accessed and edited. The data set 38 can be stored either centrally on a server 25 or decentrally on the tractor 3 and/or the attachment 5 or a flexible storage medium such as a memory card or a USB stick. In this context, it is within the scope of the invention that the storable data set(s) 38 are either personalized or freely accessible, and are thus stored so that they can be exchanged between different operators 31 of the most varied of machine arrangements 1.

0033In order to optimize the mode of operation of the tractor 3 and/or the attachment 5 adapted to it, the driver assistance system 6 according to the invention also includes selectable strategies 29, which will be explained in more detail below, with the selectable strategies 29 being tractor-specific strategies, attachment-specific strategies and/or a combination of both.

0034Efficient optimization of the machine arrangement 1 consisting of tractor 3 and adapted attachment 5 results when the selectable strategies 29 include at least one or more of the strategies "efficiency" 39, "performance" 40, "quality of work" 41, "balance" 42, " Soil Saving" 43 "Comfort" 44 and "Custom" 45.

0035The "efficiency" optimization strategy 39 can optimize machine fuel consumption and machine operating hours and/or include the optimization of the time required for so-called headland maneuvers.

0036In an advantageous embodiment, the “performance” optimization strategy 40 is aimed at least at increasing the processed area and/or processed mass of agricultural goods and/or the machine operating hours.

0037Within the "work quality" optimization strategy 41, at least the optimization of setting parameters 46 of the tractor 3 and/or the attachment 5, to be described in more detail below, is undertaken in order to achieve a desired work result that is dependent on the type of attachment 5.

0038The "Balance" 42 optimization strategy is such that a variable ratio between "Performance" 40 and "Efficiency" 39 can be set.

0039The "soil protection" optimization strategy 43 is aimed at the effects of the work of the machine arrangement 1 on the soil and optimizes setting parameters 46 of the tractor 3 and the attachment 5 in such a way that a soil-protecting mode of operation results. This optimization strategy is particularly effective if, for example, a minimization of the ground pressure and the associated reduction in soil compaction, an optimization of the tire air pressure, a balanced ballasting and thus a weight minimization as well as optimized tyres, steering modes and a minimization of the chassis slip are taken into account or achieved.

0040In the simplest case, the "comfort" optimization strategy 44 is designed such that a user-defined vibration behavior and/or acceleration behavior and/or the volume of the machine arrangement 1 can be set.

0041The "user-defined" optimization strategy 45 enables the operator 31 to manually adjust the parameters stored in the optimization strategies 29, so that interactions and dependencies between the strategies 29 can be better taken into account.

0042The driver assistance system 6 is also designed in such a way that it can be operated either in a dialog mode 47 with the operator 31 or in an automatic mode 48 . In both cases the communication, the dialogue with the operator 31 takes place in natural language.

0043It is also within the scope of the invention for the optimized working parameters 46 generated after processing the dialog mode 47 or the automatic mode 48 to be stored in a data record 49 in analogy to the data record 38 so that they can be called up again and edited. In the simplest case, data record 49 is part of data record 38, which has already been described. In analogy to data record 38, data record 49 can also be stored and retrieved in person.

0044<figref idref="f0003">3</figref> describes the mode of operation of the driver assistance system 6 according to the invention, in particular the dialogue between the operator 31 and the driver assistance system 6 in more detail. In a first method step 50, the driver assistance system 6 is activated by the operator 31 or automatically when a critical situation 51 is identified.

0045In the following step 52, the "purpose" module 30 is activated, with the operator 31 causing the purpose 32 to be edited. In the simplest case, the driver assistance system 6 will ask the operator 31 the question 53 for which the<figref idref="f0002">figure 2</figref> explained uses 32 an optimization should be initiated.

0046In the following method step 54, a “field/road” module 55 is activated, with the operator 31 specifying the use “field” or “road” or the driver assistance system 6 automatically recognizing the use. In the simplest case, the automatic detection can be effected by assigning a GPS transmitter to the machine arrangement, by means of which the position of the machine arrangement 1 can be determined. It is also conceivable here that the "road" or "field" position is determined using a threshold value for the driving speed of the machine arrangement, for example 25 km/h, with driving speeds above the threshold value being identified as driving on the road.

0047In the following step 56, an "optimization" module 57 is started, the operator 31 being prompted to select the optimization strategy 29, 39-45. Depending on the nature of the display unit 8, the respective optimization strategy 39-45 can be selected by manual activation 58 on a touchscreen monitor 59 or by activating activation keys 60 assigned to the respective optimization strategy 39-45.

0048Depending on the selected optimization strategy 39-45, in a further method step 61 a dialog-guided optimization 62 of working parameters 46 of the tractor 3 and/or of the attachment 5 adapted to the tractor 3 is activated, which will be explained in more detail. It is within the scope of the invention that at the same time the operation of several attachments 5 adapted, for example, at the front, rear and side of the tractor 3 is optimized. As already described, the mode of operation of the tractor 3 and the adapted attachment(s) 5 can be optimized in a dialog mode 47 or in an automatic mode 48 . In both cases, as also already described, data sets 38, 49 are generated, which include optimized working parameters 37, 46 of the working elements 17, 18 of the tractor 3 and of the attachment(s) 5. The driver assistance system 6 according to the invention can be designed in such a way that the determined optimized working parameters 37, 46 are either set directly on the respective working element 17, 18, the operator 31 is asked whether the determined working parameters 37, 46 should be set or only a display of the optimized working parameters 37, 46 takes place and the operator 31 then has to trigger the setting or by actuating actuators directly on the attachment 5 .

0049The storable data record(s) (38, 49) can also include specific data records for "field work" and "road travel", with the specific data records (38, 49) for "field work" and "road travel" being directly retrievable.

0050After the optimization of the operation of the machine arrangement 1 has taken place, the operator 31 is asked in a decision step 63 whether the optimization should be terminated or not. Depending on the decision of the operator 31, the optimization is then ended or the driver assistance system 6 starts again with method step 50.

0051<figref idref="f0004">figure 4</figref> 12 now shows schematically how the various working parameters 37, 46 of the tractor 3 and the attachment(s) 5 are optimized by means of the driver assistance system 6 according to the invention. For reasons of simplification, a display unit 8 designed as a touchscreen monitor 59 is assumed below. It is within the scope of the invention that all manual activations 58 can also be implemented using keys that are not shown.

0052First, the operator 31 can determine by manual activation 58 whether the mode of operation of the tractor 3 designed as a tractor 2 and/or the attachments 5 should be optimized. In the exemplary embodiment shown, two types of attachments are shown as examples, namely a front weight 64 and a soil cultivation device 4 designed as a cultivator 65.

0053By activating the respective icon for tractor 2 and/or attachment 5, the "Select strategy" dialog box 29 opens and the operator 31 must select the desired optimization strategy 39-45. Depending on the selected optimization strategy 39-45, driver assistance system 6 then determines optimized working parameters 37, 46 for the Tractor 3 and the attachment(s) 5. As already described, the optimized working parameters 37, 46 are then set via corresponding control signals AD to be transmitted to the tractor 2 or the attachment 5.

0054Since the front weight 64 forms an original part of the towing vehicle 2 designed as a tractor 2 , the optimization of the operation of the towing vehicle 2 can also include the optimization of the ballasting 64 . In this case, an efficient optimization of the working parameters 46 by means of the driver assistance system 6 according to the invention is achieved when the working parameters 46 that can be edited and optimized include one or more of the following working parameters 46: the engine droop; the acceleration; the selection of the appropriate driving range if the drive of the tractor allows operation in driving ranges; the driving speed and the presetting of speed values ​​for a cruise control known per se; the activation and deactivation of a four-wheel drive; the activation and deactivation of a differential known per se; the tire status determination, including a suggestion for suitable tires; Definition of suitable ballast weights 64 for front and/or rear mounting; the cab suspension; the front axle suspension; the behavior and the type of connection of the attachment 5 to the tractor 3; Adjustment of hydraulic settings, valves to be used, amount of oil required and oil delivery times; an optimized tire air pressure; the PTO speed; the type and design of the power take-off; the steering mode to be selected, for example the known crab steering, standard steering, reversing, steering according to GPS data and/or driving programs.

0055If the attachment 5 is in the form of a tillage device 4, for example a cultivator 65, the driver assistance system 6 according to the invention can, in analogy to the selectable optimization strategies 29 already described, "efficiency" 39, "performance" 40, "work quality" 41, "balance" 42, " Floor protection" 43, "Comfort" 44 and "Custom" 45 alternatively or additionally one or more of the<figref idref="f0005">figure 5</figref> schematically illustrated selectable optimization strategies 29 "Power Hop" 66, "stubble cultivation" 67, "soil loosening" 68, "evenness" 69, "mixing" 70, "seedbed preparation" 71, "crumbling" 72 and "reconsolidation" 73 include.

0056According to<figref idref="f0005">figure 5</figref> For example, one of the optimization strategies 29 selected by the operator 31 can be the “Power Hop” optimization strategy 66 . Regarding the subject matter of the optimization strategy "Power Hop" 66, reference is made to the patent documents<patcit id="pcit0002" dnum="DE102014113466"><text>DE 10 2014 113 466</text></patcit> and<patcit id="pcit0003" dnum="EP2818337A"><text>EP 2 818 337</text></patcit> referred, the disclosure contents of which are fully part of the disclosure here. The selectable "Power Hop" optimization strategy 66 reduces the load-dependent rocking of the machine arrangement 1, with the working parameters 46 to be optimized being one or more of the following parameters: tire air pressure on a front axle 74, tire air pressure on a rear axle 75 and ballast 76.

0057At least the stubble height 77 or the so-called stubble fall can be optimized by means of the selectable "stubble cultivation" 67 optimization strategy, with the working parameters 46 to be optimized comprising at least the setting of a minimum distance 78 of the tools 80a influencing the stubble height 77 to the ground 79 with the aim that the Floor 79 is processed as flat as possible and over the entire surface. Such tools 80 can preferably be designed as mulchers which are known per se and are therefore not described in detail.

0058The selectable optimization strategy "soil loosening" 68 is aimed at loosening the soil 79 and includes at least the penetration depth 81 of the tools 80b into the soil 79 as the working parameter 46 to be optimized. The main effect of this optimization strategy is that a loose soil structure is also targeted in deeper soil layers can be reached.

0059By means of the selectable optimization strategy "Evenness" 69, a reduction of unevenness in the ground can be brought about by evening out the ground surface structure, the working parameters 46 to be optimized being, for example, guiding the tools 80c designed as so-called coulter elements 82 over the ground 79 and/or the setting of the tools 80a- c and/or the working speed 84 can include.

0060Furthermore, the selectable "Mixing" optimization strategy 70 can optimize the mixing of soil and harvest residues at different soil depths, with the working parameters 46 to be optimized here comprising at least the setting of the so-called stubble fall 91 and/or the working depth 83.

0061The selectable "Seedbed preparation" optimization strategy 71 optimizes the soil structure for seedbed preparation depending on the type of fruit to be sown, with the working parameters 46 to be optimized here comprising at least the crumb structure 85 and/or the seedbed depth 86 and/or the reconsolidation 87 of the soil 79.

0062Using the selectable optimization strategy "Crumbling" 72, the soil structure can be optimized, in particular a soil depth-dependent size of the soil components, with the working parameters 46 to be optimized here being at least the crumb structure 85 and/or the seedbed depth 86 and/or the reconsolidation 87 of the soil 79 include.

0063Finally, the selectable "Reconsolidation" optimization strategy 73 results in an optimization of the soil density as a function of the soil depths, with the working parameters 46 to be optimized here comprising at least the crumb structure 85 and/or the seedbed depth 86 and/or the reconsolidation 87 of the soil.

0064A comprehensive optimization of the mode of operation of the machine arrangement 1 also results when the editable working parameters 46 of the attachment 5 designed as a cultivator 65 are one or more of the following parameters: working depth of the tools 83; Working width 88 of attachment 5; the prestressing of the traction cylinders associated with a three-point linkage known per se; the number and type of tools installed 89; the working speed of the attachment 84; the adjustment of the existing tools 90; the type of attachment of the attachment 5 to the tractor 3; Type and status of a transport facility.<tables id="tabl0001" num="0001"><table frame="none"><title><b>Reference list:</b></title><tgroup cols="4" colsep="0" rowsep="0"><colspec colnum="1" colname="col1" colwidth="13mm" /><colspec colnum="2" colname="col2" colwidth="48mm" /><colspec colnum="3" colname="col3" colwidth="13mm" /><colspec colnum="4" colname="col4" colwidth="47mm" /><tbody><row><entry>1</entry><entry>machine arrangement</entry><entry>31</entry><entry>operator</entry></row><row><entry>2</entry><entry>tractor</entry><entry>32</entry><entry>purpose</entry></row><row><entry>3</entry><entry>tractor</entry><entry>33</entry><entry>tillage</entry></row><row><entry>4</entry><entry>tillage implement</entry><entry>34</entry><entry>PTO work</entry></row><row><entry>5</entry><entry>attachment</entry><entry>35</entry><entry>transport work</entry></row><row><entry>6</entry><entry>driver assistance system</entry><entry>36</entry><entry>front loading work</entry></row><row><entry>7</entry><entry>unit of account</entry><entry>37</entry><entry>working parameters</entry></row><row><entry>8</entry><entry>display unit</entry><entry>38</entry><entry>record</entry></row><row><entry>9</entry><entry>internal information</entry><entry>38a</entry><entry>base record</entry></row><row><entry>10</entry><entry>external information</entry><entry>38b</entry><entry>custom record</entry></row><row><entry>11</entry><entry>depositable information</entry><entry>39</entry><entry>efficiency</entry></row><row><entry>12</entry><entry>control device</entry><entry>40</entry><entry>perfomance</entry></row><row><entry>13</entry><entry>control device</entry><entry>41</entry><entry>work quality</entry></row><row><entry>14</entry><entry>control unit</entry><entry>42</entry><entry>balance</entry></row><row><entry>15</entry><entry>tractor setting machine</entry><entry>43</entry><entry>soil protection</entry></row><row><entry>16</entry><entry>Attachment setting machine</entry><entry>44</entry><entry>Comfort</entry></row><row><entry>17</entry><entry>working body</entry><entry>45</entry><entry>Custom</entry></row><row><entry>18</entry><entry>working body</entry><entry>46</entry><entry>working parameters</entry></row><row><entry>19</entry><entry>setting machine</entry><entry>47</entry><entry>dialogue mode</entry></row><row><entry>20</entry><entry>Rules tractor</entry><entry>48</entry><entry>automatic mode</entry></row><row><entry>21</entry><entry>Internal implement rules</entry><entry>49</entry><entry>record</entry></row><row><entry>22</entry><entry>External attachment rules</entry><entry>50</entry><entry>process step</entry></row><row><entry>23</entry><entry>job calculator</entry><entry>51</entry><entry>critical situation</entry></row><row><entry>24</entry><entry>job calculator</entry><entry>52</entry><entry>process step</entry></row><row><entry>25</entry><entry>server</entry><entry>53</entry><entry>question</entry></row><row><entry>26</entry><entry>ISO based controller</entry><entry>54</entry><entry>process step</entry></row><row><entry>27</entry><entry>ISO based controller</entry><entry>55</entry><entry>Field/road module</entry></row><row><entry>28</entry><entry>supervisor</entry><entry>56</entry><entry>process step</entry></row><row><entry>29</entry><entry>optimization strategy</entry><entry>57</entry><entry>Optimization module</entry></row><row><entry>30</entry><entry>"Purpose" module</entry><entry>58</entry><entry>manual activation</entry></row><row><entry>59</entry><entry>touch screen monitor</entry><entry>89</entry><entry>Type and number of tools</entry></row><row><entry>60</entry><entry>activation button</entry><entry>90</entry><entry>Adjustment of the tools</entry></row><row><entry>61</entry><entry>process step</entry><entry>91</entry><entry>stubble fall</entry></row><row><entry>62</entry><entry>dialog-guided optimization</entry><entry /><entry /></row><row><entry>63</entry><entry>decision step</entry><entry /><entry /></row><row><entry>64</entry><entry>front weight</entry><entry /><entry /></row><row><entry>65</entry><entry>cultivator</entry><entry /><entry /></row><row><entry>66</entry><entry>power hop</entry><entry /><entry /></row><row><entry>67</entry><entry>stubble cultivation</entry><entry /><entry /></row><row><entry>68</entry><entry>soil loosening</entry><entry /><entry /></row><row><entry>69</entry><entry>flatness</entry><entry /><entry /></row><row><entry>70</entry><entry>mixing</entry><entry /><entry /></row><row><entry>71</entry><entry>seedbed preparation</entry><entry /><entry /></row><row><entry>72</entry><entry>crumbling</entry><entry /><entry /></row><row><entry>73</entry><entry>reconsolidation</entry><entry /><entry /></row><row><entry>74</entry><entry>Tire air pressure front axle</entry><entry /><entry /></row><row><entry>75</entry><entry>Rear axle tire pressure</entry><entry /><entry /></row><row><entry>76</entry><entry>ballast</entry><entry /><entry /></row><row><entry>77</entry><entry>stubble height</entry><entry /><entry /></row><row><entry>78</entry><entry>minimum distance</entry><entry /><entry /></row><row><entry>79</entry><entry>floor</entry><entry /><entry /></row><row><entry>80a-c</entry><entry>Tool</entry><entry /><entry /></row><row><entry>81</entry><entry>penetration depth</entry><entry /><entry /></row><row><entry>82</entry><entry>six element</entry><entry /><entry /></row><row><entry>83</entry><entry>working depth</entry><entry>A</entry><entry>control signal</entry></row><row><entry>84</entry><entry>Working speed</entry><entry>B</entry><entry>control signal</entry></row><row><entry>85</entry><entry>crumb structure</entry><entry>C</entry><entry>control signal</entry></row><row><entry>86</entry><entry>seedbed depth</entry><entry>D</entry><entry>control signal</entry></row><row><entry>87</entry><entry>reconsolidation</entry><entry /><entry /></row><row><entry>88</entry><entry>working width</entry><entry /><entry /></row></tbody></tgroup></table></tables>