Method to automatically rock free a stuck vehicle

A system for operating a vehicle, comprising:

• a sensor for detecting the vehicle to have a wheel stuck in a ditch;
• a processor for performing an automated rocking mode at the vehicle, wherein the automated rocking mode:
• engages an engine of the vehicle into a first gear;
• rotates the wheel with the engine in the first gear to create a first motion of the vehicle in a first direction;
• measures a torque at the wheel and an acceleration of the vehicle with the engine in the first gear;
• determines a traction indicator of the vehicle from a ratio of the torque at the wheel to the acceleration of the vehicle;
• engages the engine into a second gear when the traction indicator meets a traction threshold;
• and
• rotates the wheel with the engine in the second gear to create a second motion of the vehicle in a second direction.

A vehicle, comprising:

• a wheel;
• an actuator for controlling rotation of the wheel;
• a sensor for detecting a stuck condition for the wheel;
• a processor for performing an automated rocking mode at the vehicle, wherein the automated rocking mode comprises:
• engages an engine of the vehicle into a first gear;
• rotates the wheel via the actuator with the engine in the first gear to create a first motion of the vehicle in a first direction;
• measures a torque at the wheel and an acceleration of the vehicle with the engine in the first gear;
• determines a traction indicator of the vehicle from a ratio of the torque at the wheel to the acceleration of the vehicle;
• engages the engine into a second gear when the traction indicator meets a traction threshold;
• and
• rotates the wheel via the actuator with the engine in the second gear to create a second motion of the vehicle in a second direction.