Method and system for estimating surface roughness of ground for an off-road vehicle to control ground speed

A system for estimating surface roughness of a ground for an off-road vehicle to control ground speed, the system comprising:

• a motion sensor configured to detect 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;
• a pitch sensor configured to detect pitch data of the off-road vehicle for the sampling interval to obtain a pitch acceleration;
• a roll sensor configured to detect roll data of the off-road vehicle for the sampling interval to obtain a roll acceleration;
• a surface roughness index estimator for determining a surface roughness index based on the detected motion data, pitch data and roll data for the sampling interval, where the surface roughness index estimator comprises software executable by an electronic data processor;
• a user interface configured to display the determined surface roughness index to a user or operator of the off-road vehicle as a numerical indication of the surface roughness index, a ranking of the surface roughness index, or a visual indictor of one or more ranges of the surface roughness index;
• a ground speed module configured to estimate a ground speed setting for the vehicle based on the determined surface roughness index, wherein the vehicle ground speed setting is estimated for the off-road vehicle based on the determined surface roughness index for a corresponding agricultural task and implement configuration to establish a task-based surface roughness index limit or range for spraying, planting or seeding tasks performed by the off-road work vehicle and its implement;
• a surface roughness estimator configured to estimate 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;
• a location-determining receiver for determining a position of a vehicle, or its implement, in the field or in the work site with respect to the estimated zones of different corresponding surface roughness index ranges;
• a ground speed module or an electronic data processor configured to estimate a ground speed setting associated with the implement consistent with alignment and/or overlap of the determined position of the implement and the estimated zones;
• and
• the ground speed module or the electronic data processor configured to control a vehicle propulsion system, or an implement electric drive motor, or both, to adjust the estimated ground speed setting for corresponding zones with a surface roughness index ranges for transitions or changes between different zone limits or zone thresholds.