US 11,807,107 B2
Vehicle system and longitudinal vehicle control method
Ian C. Rust, San Francisco, CA (US); and Selina Pan, San Francisco, CA (US)
Assigned to Anamnesis Corporation, San Francisco, CA (US)
Filed by Anamnesis Corporation, San Francisco, CA (US)
Filed on Aug. 17, 2022, as Appl. No. 17/889,884.
Claims priority of provisional application 63/233,936, filed on Aug. 17, 2021.
Prior Publication US 2023/0121191 A1, Apr. 20, 2023
Int. Cl. B60L 15/20 (2006.01); B60W 60/00 (2020.01); B60W 30/18 (2012.01); B60W 10/08 (2006.01); B60W 10/18 (2012.01); B60L 7/18 (2006.01)
CPC B60L 15/2009 (2013.01) [B60L 7/18 (2013.01); B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 30/18127 (2013.01); B60W 60/001 (2020.02); B60W 2300/145 (2013.01); B60W 2510/18 (2013.01); B60W 2520/10 (2013.01); B60W 2552/15 (2020.02); B60W 2710/08 (2013.01); B60W 2710/18 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A road vehicle system for autonomous augmentation of a combination vehicle system comprising a tractor and a trailer, the road vehicle system comprising:
a chassis defining a longitudinal axis;
a first vehicle coupling configured to connect to the tractor and mounted at a forward end of the chassis relative to the longitudinal axis;
an electric powertrain, comprising:
a battery mounted to the chassis; and
a traction motor;
a vehicle sensor suite comprising a first sensor coupled to the first vehicle coupling and configured to measure a longitudinal force between the first vehicle coupling and the chassis; and
an autonomous controller configured to:
based on the longitudinal force, determine a vehicle trajectory with a dynamic model, the dynamic model comprising: a road grade estimate and an adaptive observer, wherein the dynamic model is configured to update the adaptive observer based on a dynamic model error, a vehicle state estimation, and the road grade estimate;
with a command model, determine a command based on the vehicle trajectory; and
control the electric powertrain based on the command.