US 11,718,304 B2
Method and system for estimating surface roughness of ground for an off-road vehicle to control an implement
Christopher D. Birkland, Indianola, IA (US); and Tyler D. Schleicher, Ankeny, IA (US)
Assigned to Deere & Comoanv, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Jul. 7, 2020, as Appl. No. 16/946,813.
Claims priority of provisional application 62/986,012, filed on Mar. 6, 2020.
Prior Publication US 2021/0276565 A1, Sep. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 40/06 (2012.01); B60W 30/02 (2012.01); B62D 37/02 (2006.01)
CPC B60W 40/06 (2013.01) [B60W 30/02 (2013.01); B62D 37/02 (2013.01); B60W 2300/185 (2013.01); B60W 2400/00 (2013.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for estimating surface roughness of a ground for an off-road vehicle to control an implement, 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, by a first sensor or an inertial sensor module, pitch acceleration data of the off-road vehicle for the sampling interval;
detecting, by a second sensor or the inertial sensor module, roll acceleration data of the off-road vehicle for the sampling interval;
determining, by an electronic data processor, 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 the field or work site based on the determined surface roughness index as the off-road 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 or index ranges within the field or work site;
displaying, on a user interface, the generated graphical display to a user or operator of the off-road vehicle; and
estimating a downforce setting for the implement of the off-road vehicle based on the determined surface roughness index to adjust the estimated down-force setting for one or more zone thresholds of a respective surface roughness index range of the estimated zone.