Performance of Autonomous Control

• US 20180265076A1
• Filed: 03/16/2017
• Published: 09/20/2018
• Est. Priority Date: 03/16/2017
• Status: Active Grant

• Current Assignee: Hall Logic Incorporated
• Original Assignee: Hall Labs, LLC
• Inventors: Hall, Michael, Myer, Seth
• Granted Patent: US 10,124,798 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 20/10 Controlling the power contribution of each of the prime movers to meet required power demand
• CPC Class Codes: B60W 2030/041 about the pitch axis
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2050/0012 Feedforward or open loop systems
• CPC Class Codes: B60W 2050/0088 Adaptive recalibration
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2510/081 Speed
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2520/30 Wheel torque
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2710/0644 Engine speed
• CPC Class Codes: B60W 2710/1005 : Transmission ratio engaged
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2720/10 : Longitudinal speed
• CPC Class Codes: B60W 2720/16 : Pitch
• CPC Class Codes: B60W 2720/18 : Roll
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability
• CPC Class Codes: B60W 30/12 : Lane keeping
• CPC Class Codes: B60W 30/14 : Adaptive cruise control
• CPC Class Codes: B60W 40/1005 : Driving resistance
• CPC Class Codes: B60W 40/11 : Pitch movement
• CPC Class Codes: B60W 40/112 : Roll movement
• CPC Class Codes: B60W 40/13 : Load or weight
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/001 : Planning or execution of driving tasks
• CPC Class Codes: G05D 1/027 : comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y10S 903/902 : Prime movers comprising electrical and internal combustion motors

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.

Claims

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.

2. The method of claim 1, wherein the determining a vehicle weight further comprises:

storing, in response to the vehicle performance parameters being within the threshold ranges, a plurality of data pairs, each data pair comprising a longitudinal acceleration and a drive force, the drive force determined according to a calibrated polynomial for a current velocity of the vehicle;

determining a slope of a line that linearly approximates the plurality of data pairs, the slope indicating a total weight, the total weight comprising a weight of the vehicle and a trailer weight;

wherein the determining the slope of the line comprises;

setting the initial y intercept of force vs. acceleration to zero; and

performing regression analysis on the plurality of data pairs resulting in a first order drive force polynomial, a first order coefficient representing the total weight.

3. The method of claim 1, wherein the drive force comprises a combined drive force of all motor drive forces, engine drive forces and motive force devices;

and

wherein supplying predetermined calibration settings further consists of relating motor drive force to motor speed for the vehicle traveling at various speeds.

4. The method of claim 1, wherein the vehicle performance parameters are selected from the group consisting of lateral acceleration, velocity, electric motor speed, electric motor operating in braking mode as a generator, engine speed, longitudinal acceleration, brakes not being applied, and a transmission gear ratio.

5. The method of claim 1, further comprising retrieving one or more of the vehicle performance parameters from a computing device for the vehicle.

6. The method of claim 3, wherein the combined drive force is determined by determining a polynomial for each integer velocity of the vehicle by performing regression analysis on calibration data pairs for each integer velocity of the vehicle, the calibration data pairs comprising a calibration drive force, an electric motor speed and an engine speed, the calibration drive force determined by multiplying the weight of the vehicle with a longitudinal acceleration of the vehicle when the data pair was recorded.

7. The method of claim 1, wherein the motor is a motive force device comprising one or more electric motors, internal combustion engines, and external combustion engines.

8. The method of claim 1, wherein the autonomous control system comprises one or more of the following:

a semi-autonomous control system;

a fully autonomous control system;

adaptive cruise;

cruise control;

self-driving; and

lane centering.

9. The method of claim 1, wherein the vehicle transmits information about the vehicle'"'"'s weight and response to road conditions based on the weight to one or more separate vehicle'"'"'s similar autonomous control system.

10. The method of claim 1, wherein the vehicle receives information from the one or more separate vehicle'"'"'s similar autonomous control system.

11. The method of claim 10, wherein the vehicle'"'"'s autonomous control system modifies control of the vehicle according to revised parameters based on the received information from the one or more separate vehicle'"'"'s similar autonomous control systems.

12. The method of claim 11, wherein modified control of the vehicle comprises:

controlling the braking of the vehicle;

controlling the steering of the vehicle; and

controlling the acceleration of the vehicle.

14. The method of claim 1, wherein the controlling the vehicle comprises:

controlling the braking of the vehicle;

controlling the steering of the vehicle; and

controlling the acceleration of the vehicle.

15. A system comprising:

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.

16. The system of claim 15, further comprising a detection module that records and compares the combined drive force RPM to vehicle speed, and uses this ratio to determine the vehicle'"'"'s axle ratio and tire size, which is then used to correct the calculated mass.

17. The method of claim 15, wherein the vehicle transmits information about the vehicle'"'"'s weight and response to road conditions to one or more separate vehicle'"'"'s autonomous control system;

and

wherein the vehicle receives information from the one or more separate vehicle'"'"'s autonomous control system and modifies control of the vehicle according to revised parameters based on the received information from the one or more separate vehicle'"'"'s autonomous control systems.

18. The method of claim 17, wherein the modified control of the vehicle comprises:

controlling the braking of the vehicle;

controlling the steering of the vehicle; and

controlling the acceleration of the vehicle.

19. The system of claim 15, further comprising a calibration module that determines a polynomial for each integer velocity of the vehicle by performing regression analysis on calibration data pairs for each integer velocity of the vehicle, the calibration data pairs comprising a calibration drive force and an engine speed, the calibration drive force determined by multiplying the weight of the vehicle with a longitudinal acceleration of the vehicle when the data pair was received, the longitudinal acceleration including the force of gravity, the data module determining the drive force using the polynomial for a current speed of the vehicle.

20. The system of claim 15, wherein the one or more motors comprise one or more electric motors, internal combustion engines, and external combustion engines.