Systems and methods of monitoring and control for trailer dynamics

Patent metadata

Field	Value
Publication number	US-12552209-B2
Application number	US-202318235787-A
Country	US
Kind code	B2
Filing date	Aug 18, 2023
Priority date	Aug 18, 2023
Publication date	Feb 17, 2026
Grant date	Feb 17, 2026

Abstract

Detection of trailer dynamic parameters is provided. A vehicle can receive a geometry of a plurality of points of support disposed along a longitudinal axis of the trailer. The vehicle can determine a center of mass of the trailer based on the plurality of points of support and weights bearing down thereupon. The vehicle can bound or otherwise determine, based on the geometry of the plurality of points of support and the center of mass, a moment of inertia of the trailer about at least one of the plurality of points of support. The vehicle can perform a navigational action based on the moment of inertia or center of mass.

First claim

What is claimed is:

1 . A vehicle, comprising:
one or more processors, configured to:
receive a mass distribution for the vehicle, the mass distribution comprising:
a mass of a tractor of the vehicle;
a mass of a trailer of the vehicle; and
a load mass; and

determine a geometry of a plurality of points of support disposed along a longitudinal axis of the trailer by detecting a distance between a kingpin of the trailer and a wheel assembly of the trailer using a distance sensor;
determine a center of mass of the trailer based on the mass distribution and the geometry of the plurality of points of support;
determine, based on the geometry of the plurality of points of support and the center of mass, a moment of inertia of the trailer about at least one of the plurality of points of support; and
perform a navigational action based on the moment of inertia.

2 . The vehicle of claim 1 , wherein the trailer mass is received as a mass density distribution along the longitudinal axis.

3 . The vehicle of claim 1 , wherein the navigational action is a speed restriction adopted responsive to the moment of inertia about a rotatable coupler exceeding a predetermined threshold.

4 . The vehicle of claim 1 , wherein the navigational action is performed based on:
a coupling angle between the tractor and the trailer; and the moment of inertia.

5 . The vehicle of claim 1 , wherein the tractor mass comprises a variable weight of:
a passenger mass, based on a detection of one or more occupancy sensors; or a fuel mass, based on based on a detection of one or more fuel sensors.

6 . The vehicle of claim 1 , wherein the mass distribution comprises a mass density function for the trailer, received from a data storage device coupled to the trailer.

7 . The vehicle of claim 1 , wherein the geometry comprises a distance between a rotatable coupler of the tractor and at least one of the plurality of points of support.

8 . A method, comprising:
receiving, by a data processing system, a mass distribution for a vehicle, the mass distribution comprising:
a mass of a tractor of the vehicle;
a mass of a trailer of the vehicle; and
a load mass; and
determining, by the data processing system, a geometry of a plurality of points of support disposed along a longitudinal axis of the trailer by detecting a distance between a kingpin of the trailer and a wheel assembly of the trailer using a distance sensor; determining, by the data processing system, a center of mass of the trailer based on the mass distribution and the geometry of the plurality of points of support; determining, by the data processing system, based on the geometry of the plurality of points of support and the center of mass, a moment of inertia of the trailer about at least one of the plurality of points of support; and performing, by the data processing system, a navigational action based on the moment of inertia.

9 . The method of claim 8 , comprising:
receiving, by the data processing system, the trailer mass comprising a mass density distribution along the longitudinal axis.

10 . The method of claim 8 , wherein the navigational action comprises:
adopting, by the data processing system, a speed restriction responsive to the moment of inertia about a rotatable coupler exceeding a predetermined threshold.

11 . The method of claim 8 , wherein the navigational action is performed based on:
a coupling angle between the tractor and the trailer; and the moment of inertia.

12 . The method of claim 8 , wherein the tractor mass comprises a variable weight of:
a passenger mass, based on a detection of one or more occupancy sensors; or a fuel mass, based on based on a detection of one or more fuel sensors.

13 . The method of claim 8 , wherein the method comprises:
receiving, by the data processing system, the mass distribution comprising a mass density function for the trailer, from a data storage device coupled to the trailer.

14 . The method of claim 8 , wherein the geometry comprises a distance between a rotatable coupler of the tractor and at least one of the plurality of points of support.

15 . A system comprising:
a data processing system configured to:
store a mass distribution for a tractor, the tractor mass distribution comprising:
a fixed portion of the mass of the tractor;
a first variable portion of the mass of the tractor associated with a combustible fuel; and
a second variable portion of the mass of the tractor associated with an occupant thereof;

store a mass distribution for a trailer, the trailer mass distribution comprising:
a fixed portion of the mass of the trailer; and
a variable portion of the mass of the trailer corresponding to a load;

determine a geometry of a plurality of points of support disposed along a longitudinal axis of the trailer by detecting a distance between a kingpin of the trailer and a wheel assembly of the trailer using a distance sensor;
determine a center of mass of the trailer based on the stored mass distribution for the tractor and the stored mass distribution for the trailer; and
determine, based on the geometry of the plurality of points of support and the center of mass, a moment of inertia of the trailer about at least one of the plurality of points of support.

16 . The system of claim 15 , wherein the trailer is rotatably coupled to the tractor.

17 . The system of claim 15 , wherein the trailer mass is received as a mass density distribution along a longitudinal axis of the trailer.

18 . The system of claim 15 , wherein the data processing system is further configured to perform a navigational action based on the moment of inertia, wherein the navigational action is a speed restriction adopted responsive to the moment of inertia about a rotatable coupler exceeding a predetermined threshold.

Assignees

• Torc Robotics Inc

Inventors

• Rivero Armenio
• Fox-Rabinovitz Joseph
• Harrison Christopher
• Raikar Akshay Pai
• Atanasov Nicholas

Classifications

• G01M1/122

  Determining position of centre of gravity · CPC title

• B60D1/62

  involving supply lines, electric circuits or the like · CPC title

• B60D1/248 Primary

  for measuring, indicating or displaying the weight · CPC title