Applications for using mass estimations for vehicles

• US 10,216,195 B2
• Filed: 05/24/2018
• Issued: 02/26/2019
• Est. Priority Date: 07/06/2011
• Status: Active Grant

• Current Assignee: Peloton Technology, Inc.
• Original Assignee: Peloton Technology, Inc.
• Inventors: Switkes, Joshua Philip, Erlien, Stephen M., Schuh, Austin B.
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US15/988,905
• Publication Number:
  US 20180267559A1
• Time in Patent Office: 278 Days
• Field of Search: None
• CPC Class Codes: B60R 16/0231 Circuits relating to the driving or the functioning of the vehicle monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2300/12 Trucks; Load vehicles
• CPC Class Codes: B60W 2300/145 Semi-trailers
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2530/203 Presence of trailer
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 2554/4041 : Position
• CPC Class Codes: B60W 2554/801 : Lateral distance
• CPC Class Codes: B60W 2554/802 : Longitudinal distance
• CPC Class Codes: B60W 2554/804 : Relative longitudinal speed
• CPC Class Codes: B60W 2556/35 : Data fusion
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/65 : Data transmitted between vehicles
• CPC Class Codes: B60W 2710/0605 : Throttle position
• CPC Class Codes: B60W 2710/0627 : Fuel flow rate
• CPC Class Codes: B60W 2710/0661 : Speed change rate
• CPC Class Codes: B60W 2710/0666 : Engine torque
• CPC Class Codes: B60W 2710/1005 : Transmission ratio engaged
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2710/22 : Suspension systems
• CPC Class Codes: B60W 2754/30 : Longitudinal distance
• CPC Class Codes: B60W 2754/50 : Relative longitudinal speed
• CPC Class Codes: B60W 30/14 : Adaptive cruise control
• CPC Class Codes: B60W 30/165 : Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/18 : Propelling the vehicle
• CPC Class Codes: B60W 40/13 : Load or weight
• CPC Class Codes: G01G 19/022 : for weighing wheeled or rolling bodies in motion G01G19/045 takes precedence
• CPC Class Codes: G01G 19/086 : wherein the vehicle mass is dynamically estimated
• CPC Class Codes: G01S 19/13 : Receivers
• CPC Class Codes: G05D 1/0055 : with safety arrangements
• CPC Class Codes: G05D 1/02 : Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0278 : using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0285 : using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G05D 1/0287 : involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G05D 1/0293 : Convoy travelling
• CPC Class Codes: G05D 1/0295 : by at least one leading vehicle of the fleet
• CPC Class Codes: G07C 5/008 : communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G08G 1/127 : to a central station ; Indicators in a central station
• CPC Class Codes: G08G 1/22 : Platooning, i.e. convoy of communicating vehicles
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 4/46 : for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 84/005 : Moving wireless networks

Abstract

Various applications for use of mass estimations of a vehicle, including to control operation of the vehicle, sharing the mass estimation with other vehicles and/or a Network Operations Center (NOC), organizing vehicles operating in a platoon and/or partially controlling the operation of one or more vehicles operating in a platoon based on the relative mass estimations between the platooning vehicles. When vehicles are operating in a platoon, the relative mass between a lead and a following vehicle may be used to scale torque and/or brake commands generated by the lead vehicle and sent to the following vehicle.

Claims

1. A method, comprising:

identifying a first vehicle and a second vehicle at a data processing center;

receiving at the data processing center sensor data from the first vehicle and the second vehicle, the sensor data useful for calculating a first mass estimation and a second mass estimation of the first vehicle and the second vehicle respectively;

performing, at the data processing center, calculations for the first mass estimation for the first vehicle and the second mass estimation for the second vehicle using the sensor data received from the first vehicle and the second vehicle respectively;

determining which of the first vehicle and the second vehicle are assigned a lead position and a following position in a platoon based on the first and the second mass estimations of the first vehicle and the second vehicle respectively; and

coordinating the platoon between the first vehicle and the second vehicle by;

directing the first vehicle and the second vehicle to rendezvous and engage in the platoon;

communicating to and sharing among the first vehicle and the second vehicle the assigned lead the following positions in the platoon as determined from the calculated mass estimations of the first vehicle and the second vehicle respectively, the communication and sharing of the assigned lead and following positions enabling the two vehicles to each know their assigned position at a point of contact of the rendezvous,

wherein the first vehicle and the second vehicle each assume their assigned position at the point of contact of the rendezvous.

2. The method of claim 1, wherein determining the assigned lead and the following positions for the first vehicle and the second vehicle further comprises:

comparing the first and second mass estimations for the first vehicle and the second vehicle;

determining the assigned lead position based on which of the first and the second vehicles has the larger mass estimation; and

determining the assigned following position based on which of the first and the second vehicles has the smaller mass estimation.

3. The method of claim 1, further comprising sharing the first mass estimation of the first vehicle with the second vehicle.

4. The method of claim 3, further comprising:

generating commands at the first vehicle while the first and second vehicles are operating in the platoon;

sharing the commands generated at the first vehicle with the second vehicle;

scaling the commands at the second vehicle when received from the first vehicle, the scaling of the commands based at least partially on a relative difference between the first and second mass estimations of the two vehicles; and

performing the scaled commands at the second vehicle.

5. The method of claim 4, wherein the commands include braking commands and throttle commands.

6. The method of claim 1, wherein the sensor data received at the data processing center includes data collected from or indicative of one or more of the following:

an engine torque command;

actual delivered engine torque;

transmission gear ratios;

GPS or positioning information;

wheel speed;

braking events

tire pressure;

tire condition;

presence or position of aerodynamic aids;

configuration of a trailers;

a number of trailers; and

/or

one or more trailer axles.

7. The method of claim 1, wherein receiving the sensor data at the data processing center further comprises receiving the sensor data from the first vehicle and the second vehicle over a wireless communication network.

8. The method of claim 1, wherein coordinating the platoon further comprises communicating with the first vehicle and the second vehicle over a wireless communication network.

9. The method of claim 1, further comprising:

receiving at the data processing center the sensor data from a multiplicity of vehicles; and

coordinating a plurality of platoons among the multiplicity of vehicles.

10. The method of claim 1, wherein the platoon includes one or more additional vehicles in addition to the first vehicle and the second vehicle, the vehicles arranged in the platoon in a front-to-back sequence from a highest mass estimation to a lowest mass estimation respectively.

11. The method of claim 1, wherein the data processing center is a Network Operations Center (NOC) arranged to remotely coordinate platooning between a multiplicity of tractor-trailers, the multiplicity of tractor-trailers each reporting their sensor data to the NOC so that the NOC can selectively coordinate platoons among the multiplicity of tractor-trailers.

12. The method of claim 1, wherein the first and the second vehicles are both tractor-trailer trucks.

13. The method of claim 1, further comprising:

(a) periodically updating the mass estimation calculation for the first vehicle from sensor data sensed on the first vehicle as the first vehicle is driving;

(b) detecting a braking event by the first vehicle; and

(c) interrupting the periodic updating of the mass estimation calculation of the first vehicle during the detected braking event, the interrupting resulting in an exclusion of the sensor data sensed during the braking event from being used in the periodic updating of the mass estimation calculation of the first vehicle.

14. The method of claim 13, further comprising repeatedly performing steps (a), (b) and (c) while the first vehicle is driving so that the mass estimation calculation of the first vehicle is repeatedly updated while excluding sensor data sensed during braking events.

15. A method, comprising:

generating sensor data for a first vehicle, the sensor data usable for estimating a first mass of the first vehicle;

calculating a mass estimation for the first vehicle based on the generated sensor data;

sharing the calculated mass estimation for the first vehicle with one or more additional vehicle(s); and

coordinating a platoon between the first vehicle and the one or more additional vehicles, an assigned position of the first vehicle in the platoon relative to the one or more additional vehicles in the platoon at least partially determined by the mass estimation of the first vehicle, the coordinating of the platoon involving;

directing the first vehicle and the one or more additional vehicles to rendezvous and engage in the platoon; and

the first vehicle assuming the assigned position in the platoon relative to the one or more additional vehicles after rendezvousing with the one or more additional vehicles.

16. The method of claim 15, wherein calculating the mass estimation for the first vehicle is performed on the first vehicle.

17. The method of claim 15, wherein calculating the mass estimation for the first vehicle occurs at the one or more additional vehicle(s).

18. The method of claim 15, wherein calculating the mass estimation for the first vehicle occurs at a Network Operations Center (NOC).

19. The method of claim 15, wherein the sensor data for the first vehicle includes data collected from or indicative of one or more of the following:

(a) engine torque;

(b) transmission gear ratios;

(c) GPS or positioning information;

(d) wheel speed;

(e) braking events;

(f) actual delivered engine torque;

(g) tire pressure;

(h) tire condition;

(i) presence or position of aerodynamic aids;

(j) configuration of any trailers;

(k) a number of trailers; and

/or

(l) one or more trailer axles.

20. The method of claim 15, wherein the sensor data used for calculating the mass estimation for the first vehicle includes data collected from or indicative of one or more of the following:

(a) engine torque;

(b) transmission gear ratios;

(c) GPS or positioning information; and

/or

(d) wheel speed;

(e) actual delivered engine torque;

(f) tire pressure;

(g) tire condition;

(h) presence or position of aerodynamic aids;

(i) configuration of any trailers;

(j) a number of trailers; and

/or

(k) one or more trailer axles.

21. The method of claim 15, further comprising

sharing the calculated mass estimation for the first vehicle with a second vehicle;

and

sharing a second mass calculation estimation for the second vehicle with the first vehicle.

22. The method of claim 15, wherein sharing the calculated mass estimation for the first vehicle with the one or more additional vehicle(s) further comprises wirelessly transmitting the calculated mass estimation for the first vehicle to the one or more additional vehicle(s).

23. The method of claim 15, wherein sharing the calculated mass estimation for the first vehicle with the one or more additional vehicle(s) further comprises:

wirelessly transmitting the sensed data for the first vehicle to a data processing center;

performing the calculation of the mass estimation for the first vehicle at the data processing center; and

wirelessly transmitting the calculated mass estimation from the data processing center to the one or more additional vehicle(s).

24. The method of claim 15, further comprising using the calculated mass estimation of the first vehicle to determine a velocity of the first vehicle relative to the one or more additional vehicle(s) while platooning.

25. The method of claim 15, further comprising arranging for the first vehicle and the one or more additional vehicle(s) to operate in the platoon with the vehicle with the highest mass estimation in a lead position and the remaining vehicle(s) following in order from highest to lowest mass estimation(s) respectively.

26. The method of claim 15, further comprising:

scaling at the one or more other vehicles commands generated by the first vehicle and shared with the one or more other vehicles while operating in the platoon, the scaling of the commands based at least partially on the calculated mass estimation of the first vehicle.

27. The method of claim 26, wherein the first vehicle and the one or more other vehicles are organized into the platoon with the first vehicle leading the platoon and the one or more other vehicles following in the platoon.

28. The method of claim 26, wherein the commands are either:

(a) braking commands;

(b) torque commands;

or

(c) both braking and torque commands.

29. The method of claim 15, wherein rendezvousing with the one or more additional vehicles occurs at one or more locations.