MONITORING STEERING CONDITIONS OF AN OFF-ROAD VEHICLE

A stability index is determined based on the estimated position, the estimating heading, and the estimated yaw rate. A surface roughness estimator is adapted to estimate a variance or standard deviation of the roll of roll angle change based on the measured roll angle. A wheel-slip estimator estimates the wheel slip indicator based on numerator of drivetrain-derived wheel speed minus estimated velocity, which numerator is collectively divided by the drivetrain-derived wheel speed. A performance evaluation module determines a performance rating based on the determined stability index, the estimated surface roughness index and the estimated wheel slip.