| CPC G01G 19/086 (2013.01) | 16 Claims |
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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.
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