US Patent 11429114 Implement control of vehicle and implement combination

An implement includes a global positioning system (GPS) receiver and an implement control system. The global positioning system receiver is configured to obtain position information for the implement. The implement control system is configured to determine a lateral error for the implement based on the position information, estimate a lateral error for a vehicle relative to the implement, the vehicle being attached to the implement, and steer the vehicle to guide the implement based on at least the lateral error for the implement and the lateral error for the vehicle.