US RE50,473 E1
Estimation of terramechanical properties
Phillip Duane Dix, Westmont, IL (US); Daniel Geiyer, Bolingbrook, IL (US); Aditya Singh, Bolingbrook, IL (US); and Navneet Gulati, Naperville, IL (US)
Assigned to CNH Industrial America LLC, New Holland, PA (US)
Filed by CNH Industrial America LLC, New Holland, PA (US)
Filed on Mar. 23, 2023, as Appl. No. 18/125,570.
Application 18/125,570 is a reissue of application No. 16/882,193, filed on May 22, 2020, granted, now 11,572,074, issued on Feb. 7, 2023.
Int. Cl. B60W 40/101 (2012.01); G01S 19/51 (2010.01); G07C 5/08 (2006.01)
CPC B60W 40/101 (2013.01) [G07C 5/0808 (2013.01); B60W 2300/15 (2013.01); B60W 2530/20 (2013.01); B60W 2556/50 (2020.02); G01S 19/51 (2013.01)] 19 Claims
OG exemplary drawing
 
[ 21. A method of operating an off-road vehicle in real time, the method comprising:
measuring a first position of the off-road vehicle at a first time;
determining, based on the first position, motion characteristics associated with the off-road vehicle;
predicting, based on the motion characteristics, a second position of the off-road vehicle at a second time;
measuring a third position of the off-road vehicle at the second time;
determining a correction factor based on a difference between the second position and the third position of the off-road vehicle at the second time;
determining a tire parameter associated with the off-road vehicle based on the correction factor; and
adjusting a steering angle of the off-road vehicle based in part on the determined tire parameter. ]