Vehicle mass measurement for automated braking

A computer program product for automated braking, the computer program product comprising:

• one or more computer readable storage media, and program instructions collectively stored on the one or more computer readable storage media, the stored program instructions comprising:
• program instructions to construct, from a set of point data, a set of scattered rays, a ray in the set of scattered rays comprising a line with a first endpoint at an origin point and a second endpoint at a point in the set of point data, wherein the point comprises an x coordinate denoting an acceleration value and a y coordinate denoting a force value of a vehicle;
• program instructions to compute, from the set of scattered rays, a set of ray slopes, a ray slope in the set of ray slopes comprising a slope of the ray;
• program instructions to map the set of ray slopes to a corresponding set of trigonometric functions;
• program instructions to select, using an optimization method, a parameter of the set of trigonometric functions;
• program instructions to compute, using an inverse of the set trigonometric functions, a vehicle mass corresponding to the set of point data;
• program instructions to adjust, based on the vehicle mass, a threshold braking distance of a collision avoidance system of the vehicle, the threshold braking distance comprising a distance from an object predicted to collide with the vehicle;
• and
• program instructions to avoid, by braking the vehicle at least the threshold braking distance from the object, a predicted collision between the vehicle and the object.

A computer system comprising one or more processors, one or more computer-readable memories, and one or more computer-readable storage media, and program instructions stored on at least one of the one or more storage media for execution by at least one of the one or more processors via at least one of the one or more memories, the stored program instructions comprising:

• program instructions to construct, from a set of point data, a set of scattered rays, a ray in the set of scattered rays comprising a line with a first endpoint at an origin point and a second endpoint at a point in the set of point data, wherein the point comprises an x coordinate denoting an acceleration value and a y coordinate denoting a force value of a vehicle;
• program instructions to compute, from the set of scattered rays, a set of ray slopes, a ray slope in the set of ray slopes comprising a slope of the ray;
• program instructions to map the set of ray slopes to a corresponding set of trigonometric functions;
• program instructions to select, using an optimization method, a parameter of the set of trigonometric functions;
• program instructions to compute, using an inverse of the set trigonometric functions, a vehicle mass corresponding to the set of point data;
• program instructions to adjust, based on the vehicle mass, a threshold braking distance of a collision avoidance system of the vehicle, the threshold braking distance comprising a distance from an object predicted to collide with the vehicle;
• and
• program instructions to avoid, by braking the vehicle at least the threshold braking distance from the object, a predicted collision between the vehicle and the object.