Terrain classification and system health monitoring

A non-transitory storage device that includes machine-readable instructions that, when executed by one or more processors, cause the one or more processors to perform operations, comprising:

• determine a first terrain classification, for a vehicle travelling on a terrain segment, based on comparing a trained model to suspension sub-system sensor data and vehicle speed data;
• determine a second terrain classification, for the vehicle travelling on the terrain segment, based on the suspension sub-system sensor data and vehicle speed data;
• wherein the second terrain classification being independent of the first terrain classification;
• determine an error value based on comparing the first terrain classification to the second terrain classification;
• wherein the error value represents an accuracy of the first terrain classification;
• determine a health indication of the suspension sub-system by comparing the error value to a first health threshold which indicates the start of critical wear of the suspension sub-system and a second health threshold which indicates impending failure of the suspension sub-system;
• determine if the run-time terrain classification circuitry is no longer generating an accurate first terrain classification when the error value is greater than the first health threshold or second health threshold;
• and
• determine a maximum velocity value based on the error value and the two health thresholds.

A method for terrain classification and vehicle suspension sub-system health status indication, comprising:

• determining a first terrain classification, for a vehicle travelling on a terrain segment, based on comparing a trained model to suspension sub-system sensor data and vehicle speed data;
• determining a second terrain classification, for the vehicle travelling on the terrain segment, based on the suspension sub-system sensor data and vehicle speed data;
• wherein the second terrain classification being independent of the first terrain classification;
• determining an error value based on comparing the first terrain classification to the second terrain classification;
• wherein the error value represents an accuracy of the first terrain classification;
• determining a health indication of the suspension sub-system by comparing the error value a first health threshold which indicates the start of critical wear of the suspension sub-system and a second health threshold which indicates impending failure of the suspension sub-system;
• determining if the run-time terrain classification circuitry is no longer generating an accurate first terrain classification when the error value is greater than the first health threshold or second health threshold;
• and
• determining a maximum velocity value based on the error value and the at least two health thresholds.