US Patent 11850948 Drag detection by electrical parameters

Drag Detection is provided. A system includes one or more processors of a vehicle, coupled with memory. The one or more processors can determine, for a vehicle, rolling drag based on energy input to one or more motors of the vehicle and a speed of the vehicle. The one or more processors can select, based on the rolling drag and a friction level associated with a surface on which the vehicle traverses, a slip target for the vehicle. The one or more processors can provide the slip target to a traction control system of the vehicle to control the one or more motors.