US 11,667,171 B2
Method and system for estimating surface roughness of ground for an off-road vehicle to control steering
Christopher D. Birkland, Indianola, IA (US); and Tyler D. Schleicher, Ankeny, IA (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Jun. 30, 2020, as Appl. No. 16/946,633.
Claims priority of provisional application 62/988,685, filed on Mar. 12, 2020.
Prior Publication US 2021/0283973 A1, Sep. 16, 2021
Int. Cl. B60G 17/0195 (2006.01)
CPC B60G 17/0195 (2013.01) [B60G 2400/0512 (2013.01); B60G 2400/0513 (2013.01); B60G 2400/204 (2013.01); B60G 2400/41 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method and system for estimating surface roughness of a ground for an off-road vehicle to control steering, the method comprising:
detecting motion data of an off-road vehicle traversing a field or work site during a sampling interval, the motion data comprising ground speed of the off-road vehicle;
detecting pitch acceleration data of the off-road vehicle for the sampling interval;
detecting roll acceleration data of the off-road vehicle for the sampling interval; and
determining a surface roughness index based on the detected motion data, pitch acceleration data and roll acceleration data for the sampling interval;
estimating zones with corresponding surface roughness index ranges within a field or work site based on the determined surface roughness index as a vehicle traverses or traversed the field or work site over multiple sampling intervals;
generating a graphical display that illustrates the estimated zones of corresponding surface roughness indexes or surface roughness index ranges within the field or work site; and
displaying the graphical display to a user or operator of the off-road vehicle.