US 11,787,418 B1
Systems and methods for real-time tractor-trailer mass estimation
Solomon Genene Gudeta, Burlingame, CA (US); Sami Rajala, San Francisco, CA (US); and John Scanlon, San Francisco, CA (US)
Assigned to Embark Trucks Inc., San Francisco, CA (US)
Filed by EMBARK TRUCKS INC., San Francisco, CA (US)
Filed on Nov. 7, 2022, as Appl. No. 17/982,051.
Int. Cl. G05D 1/00 (2006.01); G05D 3/00 (2006.01); G06F 7/00 (2006.01); G06F 17/00 (2019.01); B60W 40/13 (2012.01); B60W 40/107 (2012.01)
CPC B60W 40/13 (2013.01) [B60W 40/107 (2013.01); B60W 2300/14 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for estimating a current mass of a vehicle, comprising:
a communication interface to receive data from a plurality of vehicle systems;
a processor configured to
determine whether a trailer is attached to the vehicle;
compute an estimate of the static mass of the vehicle and the trailer;
determine whether a gating condition is met based on at least one of an acceleration measurement and a current net force measurement;
generating a computed dynamic mass of the vehicle and the trailer if the gating condition is met by performing a fusion of an estimate of dynamic mass and the static mass; and
determine to use one of (i) the computed dynamic mass, or (ii) the static mass as the current estimated mass of the vehicle and the trailer.