US 12,018,976 B2
Method for determining a mass of a self-driving vehicle, central control unit and self-driving vehicle
Julian van Thiel, Grossburgwedel (DE)
Assigned to ZF CV Systems Global GmbH, Bern (CH)
Filed by ZF CV Systems Global GmbH, Bern (CH)
Filed on Oct. 6, 2023, as Appl. No. 18/482,669.
Application 18/482,669 is a continuation of application No. PCT/EP2022/062093, filed on May 5, 2022.
Claims priority of application No. 10 2021 112 239.2 (DE), filed on May 11, 2021.
Prior Publication US 2024/0053187 A1, Feb. 15, 2024
Int. Cl. G01G 19/08 (2006.01)
CPC G01G 19/086 (2013.01) 16 Claims
OG exemplary drawing
 
1. A method for determining a vehicle mass of a self-driving vehicle wherein an internal force is applied to the self-driving vehicle via an automated control of an electronic drive system having at least one of:
i) a drive; and,
ii) an electronic braking system having a brake;
the method comprising the steps of:
determining whether a trigger event is present, wherein the trigger event indicates that a change in the vehicle mass of the self-driving vehicle is likely;
activating a learning operating mode in the presence of a trigger event, wherein the self-driving vehicle is operated in the learning operating mode alternately in a first phase and in a second phase, wherein by at least one of i) automated control of the electronic drive system and ii) the electronic braking system:
in the first phase, an internal force having a first force value is exerted on the self-driving vehicle; and,
in the second phase, an internal force with a second force value is exerted on the self-driving vehicle, wherein the first force value is different from the second force value;
determining a disturbing force acting in the first and second phases; and,
determining the vehicle mass in dependence upon a vehicle acceleration and the internal force present in the respective phase, as well as in dependence upon the determined disturbing force.