Slip control system for an off-road vehicle

Patent metadata

Field	Value
Publication number	US-11235772-B2
Application number	US-201816045129-A
Country	US
Kind code	B2
Filing date	Jul 25, 2018
Priority date	Oct 9, 2015
Publication date	Feb 1, 2022
Grant date	Feb 1, 2022

Abstract

A slip control system for an off-road vehicle includes a control system configured to output a signal indicative of a first action if a magnitude of slippage of the off-road vehicle relative to a soil surface is greater than a first threshold value and less than or equal to a second threshold value. Furthermore, the control system is configured to output a signal indicative of a second action, different than the first action, if the magnitude of slippage is greater than the second threshold value.

First claim

The invention claimed is:

1. A slip control system for an off-road vehicle, comprising:
at least one controller having a memory and a processor, wherein the at least one controller is configured to:
receive a first signal indicative of a magnitude of slippage of the off-road vehicle relative to a soil surface;
receive a second signal indicative of a rate of change of slippage of the off-road vehicle relative to the soil surface;
perform a first action in response to the magnitude of slippage being greater than a first threshold value and less than or equal to a second threshold value for more than a first threshold duration, wherein the first action comprises alerting an operator;
perform a second action, different than the first action, in response to the magnitude of slippage being greater than the second threshold value, wherein the second action comprises controlling operation of the off-road vehicle, an implement towed by the off-road vehicle, or a combination thereof;

perform the first action in response to the rate of change of slippage being greater than a third threshold value and less than or equal to a fourth threshold value; and
not perform the first action in response to the magnitude of slippage being greater than the second threshold value;
wherein the second threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value.

2. The slip control system of claim 1 , wherein the at least one controller is configured to perform the second action in response to the rate of change of slippage being greater than the fourth threshold value;
wherein the at least one controller is configured to not perform the first action in response to the rate of change of slippage being greater than the fourth threshold value.

3. The slip control system of claim 1 , wherein the at least one controller is configured to perform the second action and to not perform the first action in response to the magnitude of slippage being greater than a fifth threshold value for more than a second threshold duration, the fifth threshold value is greater than or equal to the first threshold value, and the fifth threshold value is less than the second threshold value.

4. The slip control system of claim 1 , wherein the second action comprises controlling operation of the implement to reduce a penetration depth of at least one ground engaging tool of the implement.

5. The slip control system of claim 1 , wherein the second action comprises controlling operation of the off-road vehicle to stop the off-road vehicle.

6. A method for controlling slippage of an off-road vehicle, comprising:
receiving, via at least one controller, a first signal indicative of a magnitude of slippage of the off-road vehicle relative to a soil surface;
receiving, via the at least one controller, a second signal indicative of a rate of change of slippage of the off-road vehicle relative to the soil surface;
performing, via the at least one controller, a first action in response to the magnitude of slippage being greater than a first threshold value and less than or equal to a second threshold value for more than a first threshold duration, wherein the first action comprises alerting an operator;
performing, via the at least one controller, a second action, different than the first action, in response to the magnitude of slippage being greater than the second threshold value, wherein the second action comprises controlling operation of the off-road vehicle, an implement towed by the off-road vehicle, or a combination thereof;
performing, via the at least one controller, the first action in response to the rate of change of slippage being greater than a third threshold value and less than or equal to a fourth threshold value; and
not performing the first action in response to the magnitude of slippage being greater than the second threshold value;
wherein the second threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value.

7. The method of claim 6 , comprising:
performing, via the at least one controller, the second action in response to the rate of change of slippage being greater than the fourth threshold value; and
not performing the first action in response to the rate of change of slippage being greater than the fourth threshold value.

8. The method of claim 6 , comprising performing, via the at least one controller, the second action and not performing the first action in response to the magnitude of slippage being greater than a fifth threshold value for more than a second threshold duration;
wherein the fifth threshold value is greater than or equal to the first threshold value, and the fifth threshold value is less than the second threshold value.

9. The method of claim 6 , wherein the second action comprises controlling operation of the off-road vehicle to stop the off-road vehicle.

10. The method of claim 6 , wherein the second action comprises controlling operation of the implement to reduce a penetration depth of at least one ground engaging tool of the implement.

11. A slip control system for an off-road vehicle, comprising:
at least one controller having a memory and a processor, wherein the at least one controller is configured to:
receive a first signal indicative of a magnitude of slippage of the off-road vehicle relative to a soil surface;
receive a second signal indicative of a rate of change of slippage of the off-road vehicle relative to the soil surface;
perform a first action in response to the magnitude of slippage being greater than a first threshold value and less than or equal to a second threshold value for more than a first threshold duration, wherein the first action comprises alerting an operator;
perform a second action, different than the first action, in response to the magnitude of slippage being greater than the second threshold value, wherein the second action comprises stopping the off-road vehicle;
perform the first action in response to the rate of change of slippage being greater than a third threshold value and less than or equal to a fourth threshold value; and
not perform the first action in response to the magnitude of slippage being greater than the second threshold value;

wherein the second threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value.

12. The slip control system of claim 11 , wherein the at least one controller is configured to perform the second action in response to the rate of change of slippage being greater than the fourth threshold value, or a combination thereof;
wherein the at least one controller is configured to not perform the first action in response to the rate of change of slippage being greater than the fourth threshold value.

13. The slip control system of claim 11 , wherein the at least one controller is configured to perform the second action and to not perform the first action in response to the magnitude of slippage being greater than a fifth threshold value for more than a second threshold duration, the fifth threshold value is greater than or equal to the first threshold value, and the fifth threshold value is less than the second threshold value.

14. The slip control system of claim 11 , wherein the first action further comprises engaging a four wheel drive system, engaging a differential locking system, or a combination thereof.

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc

Inventors

• Foster Christopher A
• Posselius John H
• Veikle Eric Emerson
• Hornberger Michael G
• Turpin Bret Todd
• Morwood Daniel John

Classifications

• B60W2300/185

  Off-road vehicles · CPC title

• B60W10/12

  including control of differentials · CPC title

• B60W2530/10

  Weight · CPC title

• B60W10/30

  including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps · CPC title

• B60W30/1888

  Control of power take off [PTO] · CPC title