Monitoring steering conditions of an off-road vehicle

• Main Author: Schleicher, Tyler D
• Format: Patent
• Language: English
• Published: 13.10.2020
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES; CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, ORTHE LIKE; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; CONTROLLING; DREDGING; FISHING; FIXED CONSTRUCTIONS; FORESTRY; FOUNDATIONS; HUMAN NECESSITIES; HUNTING; HYDRAULIC ENGINEERING; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL; PERFORMING OPERATIONS; PHYSICS; REGULATING; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SOIL SHIFTING; SOIL WORKING IN AGRICULTURE OR FORESTRY; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING; TRAPPING; VEHICLES IN GENERAL

A stability index is determined based on the estimated position, the estimating heading, and the estimated yaw rate. A surface roughness estimator is adapted to estimate a variance or standard deviation of the roll of roll angle change based on the measured roll angle. A wheel-slip estimator estimates the wheel slip indicator based on numerator of drivetrain-derived wheel speed minus estimated velocity, which numerator is collectively divided by the drivetrain-derived wheel speed. A performance evaluation module determines a performance rating based on the determined stability index, the estimated surface roughness index and the estimated wheel slip.