Continuous computation of center of gravity of a vehicle
First Claim
1. A system for computing a center of gravity of a vehicle having a plurality of wheels, the system comprising:
- non-transitory computer readable medium encoded with a plurality of executable modules, the wherein the plurality of executable modules includean acceleration module configured to determine a first acceleration of the vehicle along an x-axis, a second acceleration of the vehicle along a y-axis, and a third acceleration of the vehicle along a z-axis;
an angular module configured to determine a first angular rate of the vehicle along the x-axis, a second angular rate of the vehicle along the y-axis, and a third angular rate of the vehicle along the z-axis;
a force module configured to determine a total force acting on the vehicle based on a displacement of each of the plurality of wheels from a body of the vehicle;
a mass module configured to determine an estimated mass of the vehicle including any load included in the vehicle; and
a computational module configured to determine a center of gravity of the vehicle based on the first acceleration of the vehicle along an x-axis, the second acceleration of the vehicle along a y-axis, the third acceleration of the vehicle along a z-axis, the first angular rate of the vehicle along the x-axis, the second angular rate of the vehicle along the y-axis, the third angular rate of the vehicle along the z-axis, the total force acting on the vehicle, and the estimated mass of the vehicle.
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Abstract
Systems and methods for computing the center of gravity of a vehicle. One method includes determining a first, second, and third acceleration of the vehicle along an x-axis, a y-axis, and a z-axis; determining a first, second, and third angular rate of the vehicle along the x-axis, the y-axis, and the z-axis; determining a total force acting on the vehicle; and determining an estimated mass of the vehicle. The method also includes computing a center of gravity of the vehicle based on the first acceleration, the second acceleration, the third acceleration, the first angular rate, the second angular rate, the third angular rate, the total force acting on the vehicle, and the estimated mass.
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Citations
17 Claims
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1. A system for computing a center of gravity of a vehicle having a plurality of wheels, the system comprising:
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non-transitory computer readable medium encoded with a plurality of executable modules, the wherein the plurality of executable modules include an acceleration module configured to determine a first acceleration of the vehicle along an x-axis, a second acceleration of the vehicle along a y-axis, and a third acceleration of the vehicle along a z-axis; an angular module configured to determine a first angular rate of the vehicle along the x-axis, a second angular rate of the vehicle along the y-axis, and a third angular rate of the vehicle along the z-axis; a force module configured to determine a total force acting on the vehicle based on a displacement of each of the plurality of wheels from a body of the vehicle; a mass module configured to determine an estimated mass of the vehicle including any load included in the vehicle; and a computational module configured to determine a center of gravity of the vehicle based on the first acceleration of the vehicle along an x-axis, the second acceleration of the vehicle along a y-axis, the third acceleration of the vehicle along a z-axis, the first angular rate of the vehicle along the x-axis, the second angular rate of the vehicle along the y-axis, the third angular rate of the vehicle along the z-axis, the total force acting on the vehicle, and the estimated mass of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for computing a center of gravity for a vehicle having a plurality of wheels, the method comprising:
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determining a first acceleration of the vehicle along an x-axis, a second acceleration of the vehicle along a y-axis, and a third acceleration of the vehicle along a z-axis; determining a first angular rate of the vehicle along the x-axis, a second angular rate of the vehicle along the y-axis, and a third angular rate of the vehicle along the z-axis; determining a total force acting on the vehicle based on a displacement of each of the plurality of wheels from a body of the vehicle; determining an estimated mass of the vehicle including any load included in the vehicle; and computing,by at least one processor, a center of gravity of the vehicle based on the first acceleration of the vehicle along an x-axis, the second acceleration of the vehicle along a y-axis, the third acceleration of the vehicle along a z-axis, the first angular rate of the vehicle along the x-axis, the second angular rate of the vehicle along the y-axis, the third angular rate of the vehicle along the z-axis, the total force acting on the vehicle, and the estimated mass of the vehicle. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification