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A system for automated control of a ground-engaging traction device includes sensors to indicate a speed of the ground-engaging traction device, an acceleration of the machine, and a pitch rate of the machine. A controller determines a drive acceleration based upon the speed, and a ground accelerati

A system for automated control of a ground-engaging traction device includes sensors to indicate a speed of the ground-engaging traction device, an acceleration of the machine, and a pitch rate of the machine. A controller determines a drive acceleration based upon the speed, and a ground acceleration based upon the acceleration and the pitch rate. The controller determines a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration. A method is also provided.

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1. A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising: a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device;a first se

1. A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising: a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device;a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine;a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine; anda controller configured to: determine a drive acceleration based upon the drive signal;determine a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface;compare the drive acceleration to the ground acceleration;determine a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration; andtransmit the command signal to the drive system to control the ground-engaging traction device. 2. The system for automated control of a ground-engaging traction device of claim 1, wherein the drive acceleration is determined by differentiating the drive signal. 3. The system for automated control of a ground-engaging traction device of claim 1, wherein the command signal is equal to the operator input command signal if an operator issues a predetermined steering command. 4. The system for automated control of a ground-engaging traction device of claim 1, wherein the command signal is equal to the operator input command signal if a prime mover is operating above a predetermined speed. 5. The system for automated control of a ground-engaging traction device of claim 1, wherein the command signal is equal to the operator input command signal if a load on a prime mover is less than a predetermined level. 6. The system for automated control of a ground-engaging traction device of claim 1, wherein the command signal is determined at least in part based upon data including the speed of the ground-engaging traction device when the drive acceleration is greater than the ground acceleration. 7. The system for automated control of a ground-engaging traction device of claim 1, wherein the drive sensor measures a speed of a motor operatively associated with the ground-engaging traction device. 8. The system for automated control of a ground-engaging traction device of claim 1, wherein the command signal is equal to the operator input command signal if the speed of the ground-engaging traction device is greater than a predetermined maximum activation speed, the maximum activation speed being at least as high as a predetermined slip speed. 9. The system for automated control of a ground-engaging traction device of claim 8, wherein the predetermined slip speed is averaged with the speed of the ground-engaging traction device when the drive acceleration is approximately equal to the ground acceleration. 10. The system for automated control of a ground-engaging traction device of claim 1, wherein the ground acceleration is determined in part by integrating the pitch rate signal. 11. The system for automated control of a ground-engaging traction device of claim 1, wherein the command signal is less than the operator input command signal if the drive acceleration is greater than the ground acceleration. 12. A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising: a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device;a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine;a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine; anda controller configured to: determine a drive acceleration based upon the drive signal;determine a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface;compare the drive acceleration to the ground acceleration;generate a slip factor based upon a difference between the drive acceleration and the ground acceleration;determine a command signal at least in part based upon an operator input command signal, the slip factor, and a difference between the drive acceleration and the ground acceleration; andtransmit the command signal to the drive system to control the ground-engaging traction device. 13. The system for automated control of a ground-engaging traction device of claim 12, wherein the slip factor is increased if the drive acceleration is approximately equal to the ground acceleration. 14. A method for controlling a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the method comprising: receiving a drive signal at a controller indicative of a speed of the ground-engaging traction device;receiving an acceleration signal at the controller indicative of a measured acceleration of the machine;receiving a pitch rate signal at the controller indicative of a measured pitch rate of the machine;determining a drive acceleration based upon the drive signal;determining a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface;comparing the drive acceleration to the ground acceleration;determining a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration; andtransmitting the command signal from the controller to the drive system to control the ground-engaging traction device. 15. The method for controlling a ground-engaging traction device of a machine of claim 14, further including receiving at the controller a predetermined steering command and setting the command signal equal to the operator input command signal. 16. The method for controlling a ground-engaging traction device of a machine of claim 14, further including receiving at the controller a signal that a prime mover is operating above a predetermined speed and setting the command signal equal to the operator input command signal. 17. The method for controlling a ground-engaging traction device of a machine of claim 14, further including receiving at the controller a signal that a load on a prime mover is less than a predetermined level and setting the command signal equal to the operator input command signal. 18. The method for controlling a ground-engaging traction device of a machine of claim 14, further including differentiating the drive signal to determine the drive acceleration. 19. The method for controlling a ground-engaging traction device of a machine of claim 14, further including measuring a speed of a motor operatively associated with the ground-engaging traction device. 20. The method for controlling a ground-engaging traction device of a machine of claim 14, further including receiving at the controller a signal that the speed of the ground-engaging traction device is greater than a predetermined maximum activation speed and setting the command signal equal to the operator input command signal.