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US 12,644,963 B2Granted
Systems and methods of monitoring and control for trailer dynamics
AssigneeTORC Robotics, Inc.
InventorsJoseph Fox-Rabinovitz, Nicholas Atanasov, Rohit Salem, Sebastian Dingler
Life of this patent
Estimating the term…
Abstract
Trailer detection is provided. A vehicle can determine a distance to a portion of the trailer from the time-of-flight sensor data. The vehicle can determine a doppler shift indicative of a speed of a wheel of a wheel assembly from the data. The vehicle can determine, based on the distance and the doppler shift, a wheelbase of the trailer.
Claims20
A vehicle, comprising:
- a time-of-flight sensor coupled to a tractor of the vehicle;
- a trailer rotatably coupled to the tractor of the vehicle;
- and
- one or more processors configured to:
- receive, from the time-of-flight sensor, data indicative of a first wheel assembly in a field of view of the time-of-flight sensor;
- determine a doppler shift indicative of a speed of a wheel of the first wheel assembly from the data;
- determine a distance to a portion of the trailer based on the data and the doppler shift;
- determine, based on the distance, a wheelbase of the trailer, the wheelbase extending from a kingpin of the trailer to the first wheel assembly;
- and
- control operation of the vehicle based on the determined wheelbase of the trailer.
7 more elements
A method, comprising:
- receiving, by a data processing system from a time-of-flight sensor, data indicative of a first wheel assembly in a field of view of the time-of-flight sensor;
- determining, by the data processing system, a doppler shift indicative of a speed of a wheel of the first wheel assembly from the data;
- determining a distance to a portion of a trailer based on the data and the doppler shift;
- determining, by the data processing system, based on the distance, a wheelbase of the trailer, the wheelbase extending from a kingpin of the trailer to the first wheel assembly;
- and
- control operation of a vehicle based on the determined wheelbase of the trailer.
3 more elements
A system comprising:
- a tractor comprising:
- a coupling unit receiver;
- a data processing system coupled to a sensor, the data processing system configured to:
- receive, from the sensor, data indicative of a first wheel assembly in a field of view of the sensor;
- determine a doppler shift indicative of a speed of a wheel of the first wheel assembly from the data;
- determine a distance to a portion of a trailer based on the data and the doppler shift;
- determine, based on the distance, a wheelbase of the trailer, the wheelbase extending from a kingpin of the trailer to the first wheel assembly;
- and
- an autonomy system configured to control a speed or direction of the tractor based on the determined wheelbase of the trailer;
- and
- the trailer comprising:
- a coupling unit configured for receipt by the coupling unit receiver;
- and the wheel assembly.
10 more elements
Dependencies are inferred from the claim text.