Ground Roughness Sensing for Off-Road Steering Stability
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Solution Overview
Problem
Off-road vehicles face challenges in maintaining accurate steering due to ground surface irregularities, which can lead to deviations from the target path and inconsistent application of crop inputs, exacerbated by concealed irregularities and operator fatigue.
Innovation Solution
A system that estimates surface roughness by detecting motion and attitude data using sensors and location-determining receivers, generating a surface roughness index to adjust steering gain settings dynamically based on real-time terrain conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automatic guidance system is used to track path plan, then steering accuracy is improved, but vehicle deviation due to ground surface irregularities increases
Solution Approach 1:
The patent introduces an intermediary system consisting of sensors (accelerometers, gyroscopes, GPS) that detect ground surface irregularities and vehicle motion, then uses this data to dynamically adjust steering commands. This intermediary layer between the guidance system and steering mechanism compensates for disturbances caused by rough terrain, maintaining both steering accuracy and path tracking reliability
Solution Approach 2:
The system continuously monitors vehicle position, orientation, and acceleration through sensors, compares actual performance against the target path plan, and dynamically adjusts steering gain settings based on detected ground conditions. This closed-loop feedback mechanism enables real-time compensation for surface irregularities, resolving the contradiction between maintaining steering precision and adapting to unreliable ground conditions
2Measurement precision
If steering gain is increased to maintain path accuracy, then positioning precision is improved, but vehicle stability deteriorates on rough terrain
Solution Approach 1:
The patent implements dynamic adjustment of steering gain settings based on real-time detection of ground surface conditions and vehicle motion characteristics. Rather than using a fixed high gain setting, the system adapts the steering aggressiveness to match current terrain roughness, maintaining positioning precision while preventing excessive vehicle instability on rough terrain
Solution Approach 2:
The system changes the steering gain parameter dynamically based on detected surface roughness and vehicle response characteristics. By adjusting this critical control parameter according to real-time conditions, the system optimizes the balance between achieving precise path following and maintaining vehicle stability across varying terrain conditions
Data Source
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Figure 2A
AI summary
A method and system for estimating surface roughness of a ground for an off-road vehicle to control steering of a vehicle, an implement, or both, comprises detecting motion data of an off-road vehicle traversing a field or work site during a sampling interval. A first sensor is adapted to detect pitch data of the off-road vehicle for the sampling interval to obtain a pitch acceleration. A second sensor is adapted to detect roll data of the off-road vehicle for the sampling interval to obtain a roll acceleration. An electronic data processor or surface roughness index module determines or estimates a surface roughness index based on the detected motion data, pitch data and roll data for the sampling interval. The surface roughness index can be displayed on the graphical display to a user or operator of the vehicle.