Performance of autonomous control
First Claim
1. A method comprising:
- a first step of supplying predetermined calibration settings relating drive force to motor speed for a vehicle travelling at various speeds;
supplying accelerometer data to determine vehicle velocity, acceleration, and direction of travel;
supplying sensors sensing motor performance characteristics;
supplying vehicle pitch measurements, roll measurements or a combination thereof;
determining filtered data based on the combination of pitch and roll measurements;
providing accelerometer data to determine vehicle velocity, acceleration and direction of travel;
altering the accelerometer data based on the filtered data;
determining by use of one or more processors, that one or more vehicle performance parameters fall within threshold ranges;
determining a weight of a vehicle, a trailer weight, and a total weight of combined vehicle and trailer weights based on the predetermined calibration settings, accelerometer data and the vehicle performance parameters being within threshold ranges for a first time period;
determining a first feed forward parameter of the total weight and delta pitch for the first time period;
determining a revised total weight of combined vehicle and trailer weights based on the first feed forward parameter, predetermined calibration settings, accelerometer data and the vehicle performance parameters being within threshold ranges for a second time period;
determining a second feed forward parameter of the revised total weight and delta pitch for the second time period;
transmitting the second feed forward parameter to the vehicle'"'"'s autonomous control system; and
controlling the vehicle according to revised parameters incorporating the second feed forward parameter.
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Abstract
In various example embodiments, a system and method for determining a total weight of a vehicle, transmitting the total weight measured to the vehicle'"'"'s autonomous control system, and controlling the vehicle according to the total weight of the vehicle. The system and method further transmits information between separate vehicles with similar autonomous control systems. A method includes: providing predetermined calibration settings relating drive force to motor speed for a vehicle travelling at various speeds, determining that one or more vehicle performance parameters fall within a threshold range, determining the vehicle'"'"'s longitudinal acceleration and drive force, determining a total weight comprising a weight of the vehicle and a weight being hauled by the vehicle; transmitting the total weight to the autonomous control system, and controlling the vehicle according to total weight of the vehicle.
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Citations
19 Claims
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1. A method comprising:
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a first step of supplying predetermined calibration settings relating drive force to motor speed for a vehicle travelling at various speeds; supplying accelerometer data to determine vehicle velocity, acceleration, and direction of travel; supplying sensors sensing motor performance characteristics; supplying vehicle pitch measurements, roll measurements or a combination thereof; determining filtered data based on the combination of pitch and roll measurements;
providing accelerometer data to determine vehicle velocity, acceleration and direction of travel;altering the accelerometer data based on the filtered data; determining by use of one or more processors, that one or more vehicle performance parameters fall within threshold ranges; determining a weight of a vehicle, a trailer weight, and a total weight of combined vehicle and trailer weights based on the predetermined calibration settings, accelerometer data and the vehicle performance parameters being within threshold ranges for a first time period;
determining a first feed forward parameter of the total weight and delta pitch for the first time period;determining a revised total weight of combined vehicle and trailer weights based on the first feed forward parameter, predetermined calibration settings, accelerometer data and the vehicle performance parameters being within threshold ranges for a second time period; determining a second feed forward parameter of the revised total weight and delta pitch for the second time period; transmitting the second feed forward parameter to the vehicle'"'"'s autonomous control system; and controlling the vehicle according to revised parameters incorporating the second feed forward parameter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system comprising:
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a vehicle comprising one or more motors; one or more accelerometers that sense acceleration of the system; one or more processors; a drive force module that determines a combined drive force of one or more electric motors, engines and motive force devices; a vehicle pitch and roll module that determines filtered data based on the vehicle pitch, roll or both, and altering accelerometer data based on the filtered data; an interface module that retrieves one or more vehicle performance parameters; a performance module that determines whether the vehicle performance parameters fall within respective threshold ranges; a data module that stores, in response to the vehicle performance parameters being within the respective threshold ranges, a plurality of data pairs, each data pair comprising the longitudinal acceleration of the vehicle and a drive force for the vehicle, the drive force determined according to a calibrated polynomial for a current velocity of the vehicle; a weight module that determines a first weight being hauled by the vehicle by determining a slope of a line that linearly approximates the plurality of data pairs, the slope of the line indicating a total weight, the total weight comprising a weight of the vehicle and a weight being hauled by the vehicle for a first time period; the weight module further determines a weight feed forward parameter of the first weight and delta pitch for the first time period; the weight module further determines a second weight being hauled by the vehicle for a second time period; the weight module further determines a revised weight based on the weight feed forward parameter and the second weight an output module that transmits the revised weight of the vehicle to the autonomous control system; an operation module that modifies operation instructions of the autonomous control system of the vehicle; and a control module that controls the vehicle based on the modified operation instructions. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification