# US 11,441,937 B2 · Vehicle weight distribution determination > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,441,937 B2 - Document ID: US11441937B2 - Status: Granted - Kind: B2 - Application number: 16/989,623 - Filed: 2020-08-10 - Published: 2021-02-18 - Granted: 2022-09-13 - Earliest claimed: 2019-08-13 - Assignees: Tusimple, Inc. - Applicants: Tusimple, Inc. - Inventors: Kun Zhang; Xiaoling Han; Zehua Huang; Charles A. Price - Web page: https://patentgrep.com/patent/US11441937B2 ## CPC - G01G 19/086: {wherein the vehicle mass is dynamically estimated} - B60T 7/18: operated by wayside apparatus - B60T 7/20: specially for trailers, e.g. in case of uncoupling of {or overrunning by} trailer (inertia-actuated overrun brakes B60T13/08) - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60T 8/1708: {for lorries or tractor-trailer combinations} - B60T 8/1766: Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle - B60T 8/1887: {especially adapted for tractor-trailer combinations} - B60W 30/18027: {Drive off, accelerating from standstill} - B60W 40/13: Load or weight - B60W 50/0225: {Failure correction strategy} - B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts - B60C 23/0416: {allocating a corresponding wheel position on vehicle, e.g. front/left or rear/right} - B60G 2400/61: Load distribution - B60T 2201/02: Active or adaptive cruise control system; Distance control - B60T 2240/03: Tyre sensors - B60T 2240/06: Wheel load; Wheel lift - B60W 2040/1307: {Load distribution on each wheel suspension} - B60W 2050/0215: {Sensor drifts or sensor failures} - B60W 2300/147: Road trains - B60W 2530/20: Tyre data - B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc - G01G: WEIGHING (sorting by weighing B07C5/16) - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60C: VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) ## Abstract Techniques are described for determining weight distribution of a vehicle. A method of performing autonomous driving operation includes receiving two sets of values from two sets of sensors, where a first set of sensors measure weights or pressures applied on axles of a vehicle, and where a second set of sensors measure pressures in tires of the vehicle. The method performs an error detection and removal operation to remove or filter out any erroneous values from the two sets of values to obtain two sets of filtered values. The method determines one or more values that describe a weight or pressure applied on the axle to obtain the weight distribution of the vehicle based on the first set of filtered values or the second set of filtered values. Based on the obtained weight distribution of the vehicle, the method can determine a driving operation of the vehicle. ## Claims ### Claim 1 A method of performing an autonomous driving operation, comprising: receiving, from a first set of sensors coupled to axles of a vehicle, a first set of values that indicate weights or pressures applied on the axles of the vehicle; receiving, from a second set of sensors coupled to tires or wheels of tires of the vehicle, a second set of values that indicate pressures in the tires of the vehicle; generating a first set of filtered values from the first set of values and a second set of filtered values from the second set of values by performing an error detection and removal operation on the first set of values and the second set of values, respectively; determining, for each axle of the axles of the vehicle, one or more values that describe weight or pressure applied on the respective axle to obtain a weight distribution of the vehicle, wherein the one or more values for the respective axle are based on at least one value from the first set of filtered values which corresponds to the respective axle or at least two values from the second set of filtered values which corresponds to at least two tires coupled to the respective axle; and determining a driving-related operation of the vehicle based on the determined one or more values for each axle that describe the weight distribution of the vehicle and executing the driving-related operation to control autonomous driving of the vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein the error detection and removal operation includes removing at least one value from the first set of values that are outside a first range of pre-determined values, and wherein the error detection and removal operation includes removing at least one value from the second set of values that are outside a second range of pre-determined values. ### Claim 3 (depends on 1) The method of claim 1, wherein the error detection and removal operation includes removing at least one value from the first set of values or from the second set of values that fail to meet a statistical criterion. ### Claim 4 (depends on 3) The method of claim 3, wherein the statistical criterion indicates that the at least one value is removed from the first set of values in response to the at least one value being more than one standard deviation from an average of the first set of values, or wherein the statistical criterion indicates that the at least one value is removed from the second set of values in response to the at least one value being more than one standard deviation from an average of the second set of values. ### Claim 5 (depends on 1) The method of claim 1, wherein determining the driving-related operation of the vehicle comprises: determining, for each axle, a braking amount to control an extent to which brakes are engaged on the respective axle, wherein the braking amount for the respective axle is determined based on the one or more values for the respective axle. ### Claim 6 (depends on 5) The method of claim 5, wherein a first braking amount for brakes of a first axle is greater than a second braking amount for brakes of a second axle in response to determining that one or more values that describe weight or pressure applied on the first axle are greater than one or more values that describe weight or pressure applied on the second axle. ### Claim 7 (depends on 1) The method of claim 1, wherein determining the driving-related operation of the vehicle comprises: selecting a transmission gear to operate the vehicle based on a total value of either one or more values from the first set of filtered values corresponding to multiple axles or one or more values from the second set of filtered values corresponding to multiple tires, wherein the transmission gear is selected to be a first gear or a second gear for the vehicle driven from a stop position in response to the total value being greater than a pre-determined threshold that indicates that the vehicle includes goods. ### Claim 8 (depends on 1) The method of claim 1, wherein determining the driving-related operation of the vehicle comprises: selecting a transmission gear to operate the vehicle based on a total value of either one or more values from the first set of filtered values corresponding to multiple axles or one or more values from the second set of filtered values corresponding to multiple tires, wherein the transmission gear is selected to be a second gear, a third gear or a fourth gear for the vehicle driven from the stop position in response to the total value being less than a pre-determined threshold that indicates that the vehicle does not include goods. ### Claim 9 A system for autonomous vehicle operation comprising a computer that comprises a processor, configured to implement a method which causes the processor to: receive, from a first set of sensors coupled to axles of a vehicle, a first set of values that indicate weights or pressures applied on the axles of the vehicle; receive, from a second set of sensors coupled to tires or wheels of tires of the vehicle, a second set of values that indicate pressures in the tires of the vehicle; generate a first set of filtered values from the first set of values and a second set of filtered values from the second set of values by performing an error detection and removal operation on the first set of values and the second set of values, respectively; determine, for each axle of the axles of the vehicle, one or more values that describe weight or pressure applied on the respective axle to obtain a weight distribution of the vehicle, wherein the one or more values for the respective axle are based on at least one value from the first set of filtered values which corresponds to the respective axle or at least two values from the second set of filtered values which corresponds to at least two tires coupled to the respective axle; and determine a driving-related operation of the vehicle based on the determined one or more values for each axle that describe the weight distribution of the vehicle and execute the driving-related operation to control autonomous driving of the vehicle. ### Claim 10 (depends on 9) The system of claim 9, wherein, in order to determine the driving-related operation of the vehicle, the processor is further configured to: determine a maximum rate of steering to operate the vehicle based on a speed of the vehicle and a total value of either one or more values from the first set of filtered values corresponding to the multiple axles or one or more values from the second set of filtered values corresponding to multiple tires. ### Claim 11 (depends on 9) The system of claim 9, wherein, in order to determine the driving-related operation of the vehicle, the processor is further configured to: determine a maximum steering angle to operate the vehicle based at least on a total value of either one or more values from the first set of filtered values corresponding to the multiple axles or one or more values from the second set of filtered values corresponding to multiple tires. ### Claim 12 (depends on 9) The system of claim 9, wherein the one or more values for each axle are determined by the processor being further configured to: determine, for each axle, that a first value for the respective axle is a value from the first set of filtered values for the respective axle, or determine, for each axle coupled to at least two tires, that two or more values for the respective axle are values from the second set of filtered values that correspond to two or more tires coupled to the respective axle, wherein the first value or the two or more values comprise the one or more values. ### Claim 13 (depends on 9) The system of claim 9, wherein the one or more values for each axle are determined by the processor being further configured to: determine, for each axle coupled to four tires, a second value for the respective axle which is an average of two values from the second set of filtered values for two tires coupled to a first side of the respective axle; and determine, for each axle coupled to four tires, a third value for the respective axle as an average of two values from the second set of filtered values for two tires coupled to a second side of the respective axle opposite to the first side, wherein the second value and the third value comprise the one or more values. ### Claim 14 (depends on 9) The system of claim 9, wherein the first set of sensors are wireless sensors that measure weight or pressure applied on multiple axles of the vehicle. ### Claim 15 (depends on 9) The system of claim 9, wherein the second set of sensors are tire pressure monitoring system (TPMS) sensors that measure air pressure in tires. ### Claim 16 A non-transitory computer-readable program storage medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method comprising: receiving, from a first set of sensors coupled to axles of a vehicle, a first set of values that indicate weights or pressures applied on the axles of the vehicle; receiving, from a second set of sensors coupled to tires or wheels of tires of the vehicle, a second set of values that indicate pressures in the tires of the vehicle; generating a first set of filtered values from the first set of values and a second set of filtered values from the second set of values by performing an error detection and removal operation on the first set of values and the second set of values, respectively; determining, for each axle of the axles of the vehicle, one or more values that describe weight or pressure applied on the respective axle to obtain a weight distribution of the vehicle, wherein the one or more values for the respective axle are based on at least one value from the first set of filtered values which corresponds to the respective axle or at least two values from the second set of filtered values which corresponds to at least two tires coupled to the respective axle; and determining a driving-related operation of the vehicle based on the determined one or more values for each axle that describe the weight distribution of the vehicle and executing the driving-related operation to control autonomous driving of the vehicle. ### Claim 17 (depends on 16) The non-transitory computer-readable program storage medium of claim 16, wherein the error detection and removal operation includes removing at least one value from the first set of values or from the second set of values that fail to meet a statistical criterion, and wherein the statistical criterion indicates that the at least one value is removed from the first set of values in response to the at least one value being more than a percentage of a median value of the first set of values, or wherein the statistical criterion indicates that the at least one value is removed from the second set of values in response to the at least one value being more than a percentage of a median value of the second set of values. ### Claim 18 (depends on 16) The non-transitory computer-readable program storage medium of claim 16, wherein the weight or pressure applied on multiple axles include weight or pressure applied either by a structure of the vehicle without goods included in the vehicle or by the structure of the vehicle with goods included in the vehicle, wherein the method further comprises determining, for each axle, a weight or pressure applied on the respective axle by the goods included in the vehicle by comparing a value from the first set of filtered values for the respective axle with a previously measured weight or pressure applied on the respective axle by the structure of the vehicle. ### Claim 19 (depends on 16) The non-transitory computer-readable program storage medium of claim 16, wherein the pressures applied in the tires include weight or pressure applied either by a structure of the vehicle without goods included in the vehicle or by the structure of the vehicle with the goods included in the vehicle. ### Claim 20 (depends on 19) The non-transitory computer-readable program storage medium of claim 19, wherein the method further comprises: determining, for each tire of each axle, a pressure applied in the respective tire by the goods included in the vehicle by comparing a value from the second set of filtered values for the respective tire with a previously measured pressure applied in the respective tire by the structure of the vehicle.