Method and system for estimation of mass and a center of gravity of a truck-trailer

A computer-implemented method, comprising:

• for each wheel of a plurality of wheels of a vehicle while the vehicle is stopped in a first section of a driving path and not loaded, determining a first distance between a center point of a wheel and a touch point on a horizontally flat surface of the first section based on first sensor data of a first set of plurality of image sensors positioned in the first section;
• for each wheel of the plurality of wheels of the vehicle while the vehicle is stopped in the first section and loaded, determining a second distance between the center point and the touch point on the ground surface of the first section based on second sensor data of the first set of plurality of image sensors;
• based at least in part upon a difference between the first distance and the second distance, and based at least in part upon characteristics of a respective tire of each wheel, determining a load at each wheel in the first section;
• and
• based upon the load at each wheel in the first section, determining a total mass of the vehicle and a first coordinates of a center of gravity of the vehicle along a longitudinal axis and a lateral axis with respect to a front axle of the vehicle.

At least one non-transitory computer-readable medium (CRM) storing instructions, which, when executed by at least one processor of a system, cause the at least one processor to perform operations comprising:

• for each wheel of a plurality of wheels of a vehicle while the vehicle is stopped in a first section of a driving path and not loaded, determining a first distance between a center point of a wheel and a touch point on a horizontally flat surface of the first section based on first sensor data of a first set of plurality of image sensors positioned in the first section;
• for each wheel of the plurality of wheels of the vehicle while the vehicle is stopped in the first section and loaded, determining a second distance between the center point and the touch point on the ground surface of the first section based on second sensor data of the first set of plurality of image sensors;
• based at least in part upon a difference between the first distance and the second distance, and based at least in part upon characteristics of a respective tire of each wheel, determining a load at each wheel in the first section;
• and
• based upon the load at each wheel in the first section, determining a total mass of the vehicle and a first coordinates of a center of gravity of the vehicle along a longitudinal axis and a lateral axis with respect to a front axle of the vehicle.