Method and apparatus for estimating weight of vehicle

Abstract

A method and apparatus for estimating a weight of a vehicle are disclosed. An example apparatus includes at least one processor circuit to obtain strain measurement data from a strain gauge coupled to a surface of a shock tower of a vehicle; estimating a vehicle total weight of the vehicle based on the strain measurement data; and outputting the total weight of the vehicle for presentation through a user interface.

Description

Technical Field

[0001] This disclosure relates generally to vehicles, and more specifically to methods and apparatus for estimating the weight of vehicles. Background Technology

[0002] Some vehicles (e.g., vans, trucks, SUVs, etc.) can carry heavy loads and typically have weight limits that should not be exceeded to ensure proper vehicle handling and / or performance during normal use. Summary of the Invention

[0003] An example device disclosed herein includes an interface circuit system, machine-readable instructions, and at least one processor circuit, the at least one processor circuit being programmed by the machine-readable instructions to: obtain strain measurement data from a strain gauge coupled to the surface of a vehicle's shock absorber tower; and estimate the total vehicle weight based on the strain measurement data.

[0004] At least one example non-transitory machine-readable medium disclosed herein includes machine-readable instructions to cause at least one processor circuit to at least: obtain strain measurement data from a strain gauge coupled to the surface of a vehicle's shock absorber tower; and estimate the vehicle's total weight based on the strain measurement data.

[0005] An example method disclosed herein includes: obtaining strain measurement data from a strain gauge connected to the surface of a vehicle's shock absorber tower; and estimating the vehicle's total weight based on the strain measurement data. Attached Figure Description

[0006] FIG. 1 An example vehicle is shown that implements an example vehicle weight estimation circuit system in accordance with the teachings of this disclosure.

[0007] FIG. 2 It is possible FIG. 1 A perspective view of an example shock absorber tower implemented on an example vehicle.

[0008] FIG. 3 The first example installation location of the strain gauge on the example damping tower is shown.

[0009] FIG. 4 The strain gauge is shown in FIG. 3 The second example installation location on the shock absorber tower.

[0010] FIG. 5 yes FIG. 3 and / or FIG. 4 A top view of the shock absorber tower, showing an additional example installation location.

[0011] FIG. 6The strain gauge is shown in FIG. 3 , FIG. 4 and / or FIG. 5 The sixth example installation location on the shock absorber tower.

[0012] FIG. 7 The example installation block is shown. FIG. 3 , FIG. 4 , FIG. 5 and / or FIG. 6 Example of a shock-absorbing tower.

[0013] FIG. 8 It shows FIG. 7 An example of a damping tower includes mounting blocks, in which strain gauges are connected to corresponding mounting blocks within the mounting blocks.

[0014] FIG. 9 yes FIG. 1 A block diagram of an example implementation of an example vehicle weight estimation circuit system.

[0015] FIG. 10 The diagram shows the representation with FIG. 1 Example image of an example data sample corresponding to one of the wheels in the diagram.

[0016] FIG. 11A It shows the indication of targeting FIG. 1 The first example diagram shows the first example of obtaining and / or determining the estimated corner weight and the corresponding example measurement of the corner weight for a corresponding wheel in the wheel.

[0017] FIG. 11B The diagram shows the representation from FIG. 11A The second example figure shows the hysteresis analysis results corresponding to the selected corner weight value.

[0018] FIG. 11C It shows the representation FIG. 11A and / or FIG. 11B The third example diagram shows the error between the estimated corner weight and the corresponding measured corner weight.

[0019] FIG. 12 This indicates that it can be executed, instantiated, and / or performed by a programmable circuit system to estimate and... FIG. 1 A flowchart of example machine-readable instructions and / or example operations for one or more example weight measurements associated with a vehicle.

[0020] FIG. 13 It is a flowchart representing example machine-readable instructions and / or example operations that can be executed, instantiated, and / or performed by a programmable circuit system to generate one or more example calibration models.

[0021] FIG. 14This is a block diagram of an example programmable circuit system platform, which is structured to execute and / or instantiate... FIG. 12 and / or FIG. 13 Example machine-readable instructions and / or example operations for implementation FIG. 9 Vehicle weight estimation circuit system.

[0022] Generally, the same reference numerals will be used throughout the accompanying drawings and written description to refer to the same or similar parts. The drawings are not necessarily drawn to scale. Instead, the thickness of layers or areas may be magnified in the drawings. Although the drawings show layers and areas with simple lines and boundaries, some or all of these lines and / or boundaries may be idealized. In reality, boundaries and / or lines may be unobservable, mixed, and / or irregular. Detailed Implementation

[0023] As used herein, the orientation of features is described with reference to the vehicle's lateral, vertical, and longitudinal axes associated with the feature. As used herein, the vehicle's longitudinal axis is parallel to the vehicle's centerline. The terms "rear" and "front" are used to refer to directions closer to the rear and front of the vehicle along the longitudinal axis, respectively. As used herein, the vehicle's vertical axis is perpendicular to the ground on which the vehicle is situated. The terms "below" and "above" are used to refer to directions closer to and further from the ground along the vertical axis, respectively. As used herein, the vehicle's lateral axis is perpendicular to both the longitudinal and vertical axes and is generally parallel to the vehicle's axles.

[0024] As used herein, “Gross Vehicle Weight” (GVW) refers to the weight of a vehicle (e.g., the curb weight of the vehicle in addition to the weight of any cargo and / or passengers on board). As used herein, “Payload Weight” on a vehicle refers to the difference between the GVW and the curb weight of the vehicle (e.g., where the curb weight corresponds to the weight of the vehicle's hardware and consumables, and the vehicle's weight includes a full tank of fuel and standard equipment but without passengers or cargo). Payload weight on a vehicle typically includes the weight added by the user of the vehicle (e.g., the weight of the vehicle's passengers, cargo loaded in the vehicle, etc.). As used herein, “Gross Vehicle Weight Rating” (GVWR) refers to the maximum permissible GVW of a vehicle (e.g., the maximum permissible weight of a vehicle when loaded with passengers and / or cargo). As used herein, “Corner Weight” refers to the weight of the vehicle carried by the corresponding wheel of the vehicle.

[0025] Some techniques for estimating vehicle weight and / or load weight rely on the use of a designated load sensor on the vehicle, which may require adding weight associated with the vehicle. Alternatively, some known techniques measure suspension position and / or displacement to estimate vehicle weight and / or load weight. In some cases, noise may be introduced into such suspension-based measurements due to hysteresis in one or more springs of the suspension system, suspension system sagging, bushing rotation, energy losses and / or gains at one or more joints of the suspension system, camber gain, stiffness caused by the parking brake in the suspension system, etc. This noise may reduce the accuracy and / or consistency of measurements associated with the suspension system, and therefore may reduce the accuracy of load weight and / or vehicle weight estimates based on these measurements.

[0026] The examples disclosed herein utilize one or more strain gauges (e.g., strain sensors) coupled to the respective shock absorber towers of a vehicle to measure strain caused by the deformation of the shock absorber towers under load. Based on the measurement data from the strain gauges (e.g., strain measurements), the disclosed examples estimate the load weight on the vehicle, the vehicle's GVW, and / or one or more corner weights associated with the respective wheels of the vehicle. In some examples, the strain gauges are robust to temperature variations, and therefore, the measurement data from the strain gauges is more noise-resistant (e.g., compared to measurement data from position sensors and / or different types of sensors). Additionally, by mounting the strain gauges on the shock absorber towers, the examples disclosed herein utilize the primary vertical load path of the suspension springs associated with the shock absorber towers to obtain measurable (e.g., sufficiently large) and consistent strain measurements. By utilizing data from strain gauges mounted on the respective shock absorber towers of the vehicle, the examples disclosed herein provide vehicle weight and / or load weight estimates that are resistant to suspension-based noise factors and are therefore more accurate and reliable (e.g., compared to estimates obtained using some known load estimation techniques).

[0027] FIG. 1 An example vehicle 100 is shown implementing an example vehicle weight estimation circuit system 102 according to the teachings of this disclosure. FIG. 1 In the example shown, vehicle 100 is a truck. In some examples, vehicle 100 can be different types of vehicles (e.g., sedan, van, SUV, etc.). FIG. 1In this example, vehicle 100 includes a first wheel (e.g., a left front (LF) wheel) 104A, a second wheel (e.g., a right front (RF) wheel) 104B, a third wheel (e.g., a left rear (LR) wheel) 104C, and a fourth wheel (e.g., a right rear (RR) wheel) 104D (collectively referred to herein as wheel 104). In this example, the first wheel 104A and the second wheel 104B (e.g., front wheels) are coupled to and / or associated with the front axle 110A of vehicle 100, and the third wheel 104C and the fourth wheel 104D (e.g., rear wheels) are coupled to and / or associated with the rear axle 110B of vehicle 100.

[0028] In addition, FIG. 1 Vehicle 100 includes example suspension systems 112A, 112B, 112C, and 112D (collectively referred to herein as suspension system 112) operably coupled to respective wheels in wheel 104. For example, vehicle 100 includes a first suspension system 112A operably coupled to a first wheel 104A, a second suspension system 112B operably coupled to a second wheel 104B, a third suspension system 112C operably coupled to a third wheel 104C, and a fourth suspension system 112D operably coupled to a fourth wheel 104D. In this example, suspension system 112 is a MacPherson strut suspension system. In some examples, one or more different types of suspension systems may be used in the suspension system 112 (e.g., passive double wishbone (SLA) suspension, leaf spring suspension, trailing arm suspension, active and / or semi-active suspension systems, etc.). In some examples, the suspension system 112 may include shock absorbers and / or struts that can be mounted to the vehicle 100 (e.g., the body and / or frame of the vehicle 100) via one or more example shock towers.

[0029] FIG. 2 It is possible FIG. 1 A perspective view of an example shock absorber tower 200 implemented on an example vehicle 100. For example, the shock absorber tower 200 may be... FIG. 1 It is associated with one of the suspension systems 112. FIG. 2 In the example shown, the shock absorber tower 200 is coupled to an example frame 202 of the vehicle 100 and includes one or more example openings (e.g., shock absorber opening 204 and fastener opening 206) for receiving and / or mounting shock absorbers. In this example, the shock absorber opening 204 is located at or near the center of the top surface 208 of the shock absorber tower 200, and the fastener openings 206 are located in the top surface 208 and spaced circumferentially around the shock absorber openings 204. In this example, the shock absorber tower 200 includes three fastener openings 206. In some examples, the number, location, and / or spacing of the openings 204, 206 may differ.

[0030] In some examples, an increase in load on vehicle 100 (e.g., due to an increase in the number of occupants and / or cargo located in and / or on vehicle 100) can cause deformation and / or strain on one or more surfaces of shock absorber tower 200 (e.g., top surface 208 and / or side surface 210). FIG. 2 In the example shown, example indicator 212 represents an example strain value measured and / or determined for the shock absorber tower 200 due to this loading. For example, indicator 212 correlates an example pattern, color, and / or shading at a corresponding location on the shock absorber tower 200 with the corresponding strain value measured and / or determined for that location. In this example, the strain value increases near the distal end 214 of the shock absorber tower 200 (e.g., the location of the top surface 208 furthest from the vehicle frame 202) (e.g., relative to other locations on the shock absorber tower 200). Furthermore, in this example, the strain value increases at one or more locations on the side surface 210 and / or on the top surface 208 between adjacent fastener openings in the fastener openings 206 (e.g., relative to other locations on the shock absorber tower 200). In some examples, the strain values ​​corresponding to one or more locations on the shock absorber tower 200 may differ (e.g., due to variations in load on the vehicle 100 and / or variations in the characteristics of the shock absorber tower 200 (e.g., geometry, material composition, etc.)).

[0031] In some examples, strain values ​​can be determined and / or estimated based on finite element analysis of a computer model (e.g., a computer-aided design (CAD) model) corresponding to the damping tower 200 (e.g., as determined by...). FIG. 2 (Indicator 212 indicates this). In some examples, the strain value may be determined based on strain measurements from one or more strain sensors (e.g., strain gauges) positioned on the damper tower 200. In some examples, the strain value may be used to inform and / or assist in selecting the installation location of the strain sensor. For example, the strain sensor may be located near a location on the damper tower 200 where the expected strain value will rise and / or increase (e.g., relative to other locations on the damper tower 200).

[0032] Return to FIG. 1 The vehicle 100 also includes one or more example strain gauges (e.g., strain sensors) 114, which are operatively coupled to and / or mounted on corresponding shock absorber towers (e.g., in the suspension system 112) associated with the corresponding suspension system in the suspension system 112. FIG. 2The strain gauges 114 are mounted on the corresponding corners and / or wheels 104 of the vehicle 100. In this example, four strain gauges 114 are mounted on corresponding different shock absorber towers near the respective corners and / or wheels 104 of the vehicle 100. Although one strain gauge 114 is mounted on each shock absorber tower in this example, a different number of strain gauges 114 can be used alternatively (e.g., in some examples, two or more strain gauges 114 may be mounted on a single shock absorber tower). In some examples, the strain is based on the expected strain value at the corresponding location (e.g., as shown in the image). FIG. 2 (As shown) to select the location of the corresponding strain gauge 114 (e.g., the mounting location). In some examples, the location is selected to provide a relatively flat surface for the strain gauge 114. The following is combined with... FIG. 3 to FIG. 6 The installation location of strain gauge 114 and the selection of candidate installation locations are further described.

[0033] exist FIG. 1 In the example shown, the vehicle weight estimation circuitry 102 is communicatively coupled to strain gauge 114 to access, retrieve, and / or otherwise obtain example strain measurements (e.g., strain measurement data) from strain gauge 114. In some examples, the strain measurements represent the strain on the surface of the corresponding damper tower. FIG. 1 In some examples, based on strain measurements, vehicle weight estimation circuitry 102 can determine at least one of the following: the GVW of vehicle 100, the magnitude and / or location of a load on vehicle 100, and / or the corner weight associated with a corresponding wheel 104 of vehicle 100 (e.g., near a corresponding corner). Vehicle weight estimation circuitry 102 is also communicatively coupled to an example user interface (e.g., human-machine interface (HMI)) 116 of vehicle 100. In some examples, vehicle weight estimation circuitry 102 may enable the measured and / or determined values ​​(e.g., strain measurements, GVW, magnitude and / or location of loads, corner weight, etc.) to be presented via user interface 116. Furthermore, in some examples, vehicle weight estimation circuitry 102 is communicatively coupled to one or more additional devices via, for example, example network 118. In such examples, vehicle weight estimation circuitry 102 may provide the measured and / or determined values ​​to the additional devices via network 118 for storage and / or presentation thereon.

[0034] FIG. 3 to FIG. 6 An example of a shock absorber tower 300 can be implemented therein. FIG. 1 Example mounting locations (e.g., candidate mounting locations) for strain gauges in strain gauge 114. FIG. 3 to FIG. 6 In the example, the shock absorber tower 300 and FIG. 1 The first suspension system 112A and / or the first wheel (e.g., the left front wheel) 104A of the vehicle 100 are associated. In some examples, the shock absorber tower 300 may be associated with... FIG. 1The different suspension systems and / or wheels in the suspension system 112 and / or wheel 104 are associated.

[0035] Go to FIG. 3 This illustrates a first example mounting location (e.g., a first candidate location) 302A for strain gauge 114. FIG. 3 In the example shown, the first mounting position 302A is located on an example side surface 304 of the damper tower 300, wherein the side surface 304 extends downward (e.g., substantially vertically downward) from the top surface 306 of the damper tower 300. Specifically, the first mounting position 302A is located on the forward-facing portion 308A of the side surface 304, wherein the forward-facing portion 308A is relative to... FIG. 1 The vehicle is facing forward.

[0036] Alternatively, FIG. 4 It shows FIG. 3 The second example installation location (e.g., the second candidate location) 302B on the shock absorber tower 300. FIG. 4 In the example shown, the second mounting position 302B is located on the rearward-facing portion 308B of the side surface 304, wherein the rearward-facing portion 308B is relative to FIG. 1 The vehicle is facing backwards.

[0037] FIG. 5 yes FIG. 3 and / or FIG. 4 A top view of the shock absorber tower 300, showing an additional example installation location. Specifically, FIG. 5 The diagram shows third, fourth, and fifth example mounting locations (e.g., third, fourth, and fifth candidate locations) 302C, 302D, and 302E on the top surface 306 of the damping tower 300. FIG. 5 In the example shown, the third mounting position 302C is located between the first fastener opening 502A and the second fastener opening 502B in the top surface 306, the fourth mounting position 302D is located between the second fastener opening 502B and the third fastener opening 502C in the top surface 306, and the fifth mounting position 302E is located between the first fastener opening 502A and the third fastener opening 502C, wherein the fastener openings 502A, 502B, and 502C are circumferentially spaced around the shock absorber opening 504 in the top surface 308.

[0038] FIG. 6 A sixth example mounting location (e.g., a sixth candidate location) 302F for strain gauge 114 is shown. FIG. 6In the example shown, the sixth mounting position 302F is located on an example inner surface 602 of the damper tower 300, wherein the inner surface 602 faces the damper when the damper (e.g., via damper opening 504 and / or fastener openings 502A, 502B, 502C) is mounted to the damper tower 300. In some examples, the sixth mounting position 302F corresponds to a substantially flat portion of the inner surface 602.

[0039] In some examples, strain gauge 114 can be operatively coupled to and / or mounted to FIG. 3 to FIG. 6 The strain gauge 114 may be coupled to any of the mounting positions 302 (e.g., first mounting position 302A, second mounting position 302B, third mounting position 302C, fourth mounting position 302D, fifth mounting position 302E, and / or sixth mounting position 302F). For example, the strain gauge 114 may be coupled to one of the mounting positions 302 that provides a more consistent signal and / or results in reduced noise in the strain measurement (e.g., compared to the other mounting positions 302). In some examples, the third mounting position 302C provides a more consistent strain measurement signal (e.g., compared to the other mounting positions 302), and therefore, the third mounting position 302C is selected for the strain gauge 114. In some examples, different mounting positions in the mounting positions 302 may be selected alternatively. Furthermore, in some examples, the third mounting position 302C is used for multiple (e.g., all) shock absorber towers of the vehicle 100. For example, FIG. 1 The strain gauge 114 can be connected to the corresponding damper tower in the damper tower at the third mounting position 302C (e.g., corresponding to the corresponding wheel 104 and / or corner of the vehicle 100). In some examples, different mounting positions 302 can be selected for different damper towers in the damper tower.

[0040] FIG. 7 The example installation block 702 is shown. FIG. 3 to FIG. 6 Example of a 300mm shock-absorbing tower. In... FIG. 7 In the example shown, the damper tower 300 includes a first example mounting block 702A and a second example mounting block 702B connected to the top surface 306 of the damper tower 300 at a third mounting position 302C, and a third example mounting block 702C and a fourth example mounting block 702D connected to the top surface 306 of the damper tower 300 at a fifth mounting position 302E. In some examples, the positions where mounting blocks 702A and 702B are mounted may differ. For example, the mounting blocks in mounting blocks 702A and 702B may be mounted and / or connected to a combination FIG. 3 to FIG. 6The described mounting positions 302 are different mounting locations and / or can be mounted to locations different from mounting position 302. In this example, mounting block 702 is welded to top surface 306. In some examples, mounting block 702 may be integrally formed in damper tower 300 (e.g., during the casting or stamping process of damper tower 300), and / or in some examples, it may be removably attached to top surface 306 (e.g., via one or more fasteners). In some examples, mounting block 702 may be attached to damper tower 300 via brazing, soldering, riveting, and / or adhesive bonding. FIG. 7 In the example shown, mounting block 702 includes an example threaded opening 704 for receiving screws or other fasteners to... FIG. 1 The corresponding strain gauge in strain gauge 114 is fastened to the damping tower 300. The threaded opening 704 is positioned in the mounting surface 706 of the corresponding mounting block 702, wherein when strain gauge 114 is fastened to mounting block 702, mounting surface 706 will contact strain gauge 114.

[0041] In some examples, corresponding pairs of mounting blocks 702 (e.g., first mounting block 702A and second mounting block 702B, third mounting block 702C and fourth mounting block 702D, etc.) are sized, shaped and / or positioned to provide a substantially flat surface for mounting the respective strain gauge 114. For example, when a portion of the top surface 306 (e.g., corresponding to the third mounting position 302C and / or the fifth mounting position 302E) is curved, the corresponding pairs of mounting blocks 702 are sized, shaped and / or positioned such that the mounting surface 706 of the mounting blocks 702 provides a substantially flat (e.g., uncurved) surface. In some such examples, in order to provide a substantially flat surface, the first mounting block in the mounting block 702 (e.g., the first mounting block 702A, the third mounting block 702C) may have an increased height relative to the corresponding second mounting block in the mounting block 702 (e.g., the second mounting block 702B, the fourth mounting block 702D), and / or the mounting surface 706 of the first mounting block in the mounting block 702 may be angled relative to the mounting surface 706 of the second mounting block in the mounting block 702.

[0042] In some examples, mounting block 702 can amplify, exaggerate, and / or enhance the strain measurements obtained by strain gauge 114. For example, when strain gauge 114 is coupled to mounting block 702, the strain measurements obtained by strain gauge 114 can be increased compared to when strain gauge 114 is directly coupled to the surface of damper tower 300 (e.g., top surface 306) (e.g., without mounting block 702). In other words, the first strain measured by strain gauge 114 when mounted on the mounting surface 706 of mounting block 702 can be greater than the second strain measured by strain gauge 114 when mounted on the surface of damper tower 300 (e.g., a portion of top surface 306). Therefore, strain can be detected more easily when strain gauge 114 is coupled to damper tower 300 via mounting block 702 (e.g., compared to when mounting block 702 is not used).

[0043] FIG. 8 It shows FIG. 7 An example damping tower 300 includes mounting blocks 702, wherein strain gauges in strain gauges 114 (e.g., first strain gauge 114A and second strain gauge 114B) are coupled to corresponding mounting blocks in mounting blocks 702. For example, first strain gauge 114A is coupled to first mounting block 702A and second mounting block 702B, and second strain gauge 114B is coupled to third mounting block 702C and fourth mounting block 702D. Furthermore, in FIG. 8 In the example shown, an example damper (e.g., a damper assembly) 802 is mounted to the damper tower 300 via fastener 804. In some examples, by mounting strain gauges 114A, 114B to the substantially flat surface of the respective mounting blocks 702, strain gauges 114A, 114B can provide more consistent signals and / or less noise measurements (e.g., compared to when strain gauges 114A, 114B are mounted directly to the curved surface of the damper tower 300). In this example, two of the mounting blocks 702 are used to mount one of the strain gauges 114 to the damper tower 300. In some examples, different numbers of mounting blocks 702 may be used to mount a corresponding one of the strain gauges 114. For example, in some examples, a corresponding pair of mounting blocks 702 (e.g., first mounting block 702A and second mounting block 702B, third mounting block 702C, and fourth mounting block 702D) may be formed as a single part on the damper tower 300.

[0044] FIG. 9 yes FIG. 1 A block diagram of an example implementation of the example vehicle weight estimation circuit system 102. FIG. 9 The vehicle weight estimation circuitry 102 can be instantiated (e.g., instantiated, formed, materialized, implemented, etc.) by a programmable circuitry system (such as a central processing unit (CPU) that executes first instructions). Alternatively or concurrently, FIG. 9The vehicle weight estimation circuit system 102 can be instantiated (e.g., instantiated, formed over any time period, materialized, implemented, etc.) by: (i) an application-specific integrated circuit (ASIC) and / or (ii) a field-programmable gate array (FPGA), said FPGA being structured and / or configured to perform operations corresponding to the first instruction in response to the execution of a second instruction. It should be understood that... FIG. 9 Some or all of the circuit system can therefore be instantiated at the same or different times. FIG. 9 Some or all of the circuitry can be instantiated, for example, in one or more threads that execute concurrently on hardware and / or serially on hardware. Furthermore, in some examples, FIG. 9 Some or all of the circuitry can be implemented by executing instructions through a microprocessor circuitry and / or by an FPGA circuitry to implement one or more virtual machines and / or containers.

[0045] exist FIG. 9 In the example shown, the vehicle weight estimation circuit system 102 includes an example data interface circuit system 902, an example calibration circuit system 904, an example weight estimation circuit system 906, an example position estimation circuit system 908, an example output circuit system 910, an example graph analysis circuit system 912, and an example database 914.

[0046] FIG. 9 Example database 914 stores data used and / or determined by vehicle weight estimation circuitry system 102. FIG. 9 The example database 914 is implemented by any memory, storage device, and / or storage disk (such as, for example, flash memory, magnetic media, optical media, solid-state memory, hard disk drive, thumb drive, etc.) used for storing data. Furthermore, the data stored in database 914 can be in any data format, such as, for example, binary data, comma-separated data, tab-separated data, Structured Query Language (SQL) structures, etc. Although database 914 is shown as a single device in the illustrated example, the example database 914 and / or any other data storage device described herein can be implemented by any number and / or type of memory and / or software.

[0047] FIG. 9 Data interface circuitry 902 accesses, retrieves, and / or otherwise obtains sample input data for vehicle weight estimation circuitry 102 to estimate the weight of the vehicle. FIG. 1 The weight associated with vehicle 100 (e.g., GVW, corner weight, load weight, etc.). For example, data interface circuitry 902 can be accessed from... FIG. 1 The strain gauge 114 obtains example sensor data 916, which includes data related to the corresponding shock absorber tower of the vehicle 100 (e.g., FIG. 3 to FIG. 8The strain measurement value associated with the damping tower 300. In some examples, the strain measurement value represents the strain on the surface of the corresponding strain gauge 114 mounted on the damping tower.

[0048] In addition, FIG. 9 In the example, the data interface circuit system 902 obtains example scale data 918 associated with the vehicle 100 and / or via, for example... FIG. 1 The user interface 116 provides example user input (e.g., user input data) 920. In some examples, vehicle 100 may be driven and / or placed on one or more scales (e.g., at a weighing station, at a manufacturing facility, etc.) to obtain scale data 918. In some such examples, data interface circuitry 902 is communicatively coupled to the scale to obtain weight measurements from it. Alternatively or additionally, an operator may read the weight measurements output by the scale and then provide the weight measurements to data interface circuitry 902 (e.g., via user input 920).

[0049] In some examples, scale data 918 may represent the measured weight of vehicle 100 corresponding to different times and / or loading conditions. For example, scale data 918 may include the measured curb weight of vehicle 100 (e.g., vehicle curb weight). In some examples, the measured curb weight corresponds to the scale output when vehicle 100 is unloaded (e.g., when there are no passengers and no cargo on vehicle 100). In some examples, scale data 918 may include one or more corner curb weights (e.g., measured corner curb weights) corresponding to the respective wheels 104 of vehicle 100. In some examples, to obtain the corner curb weight, the unloaded vehicle 100 is driven and / or placed on multiple scales (e.g., such that the wheels 104 are positioned on the respective scales). In such examples, the output (e.g., measured weight) from one of the scales indicates the corner curb weight associated with the wheels 104 positioned on the scale. In some examples, the curb weight and / or corner curb weight are values ​​provided by the manufacturer and are therefore available to the data interface circuitry 902 (e.g., via user input 920) without the need for one or more scales.

[0050] In some examples, the corner curb weight and the corresponding strain measurement are stored as example data samples (e.g., calibration samples) in example database 914. For instance, when one of the wheels 104 is positioned on a scale, the data interface circuitry 902 obtains the corner curb weight output from the scale and further obtains the strain measurement output from one of the strain gauges 114 associated with one of the wheels 104. In such examples, the data interface circuitry 902 causes database 914 to store the corner curb weight and the corresponding strain measurement as an example data sample corresponding to one of the wheels 104.

[0051] In some examples, the data interface circuitry 902 obtains additional data samples of the corresponding wheels in wheel 104 based on results from an example calibration process. In this calibration process, a load (e.g., a calibration load) is positioned along a two-dimensional (2-D) plane (e.g., a horizontal plane, a lateral plane) on vehicle 100 at an example calibration location (e.g., a starting position, an initial calibration position) on vehicle 100. In some examples, the calibration location corresponds to the expected center of mass of vehicle 100 (e.g., the expected center of mass when vehicle 100 is loaded with passengers and / or cargo). In some examples, the calibration location is approximately equidistant from the corresponding wheel in wheel 104 (e.g., along the 2-D plane). In some examples, different calibration locations may be used alternatively.

[0052] In some examples, the data interface circuitry 902 detects and / or determines that the load is positioned at the calibration location based on changes in scale data 918 (e.g., an increase in the measured corner weight output by one or more scales) and / or based on user input 920. When a load is detected, the data interface circuitry 902 obtains the measured corner weight (e.g., via scale data 918 and / or user input 920) and strain measurement (e.g., via sensor data 916) associated with the corresponding wheel in wheel 104. In such examples, the data interface circuitry 902 causes the database 914 to store the measured corner weight and the corresponding strain measurement as a data sample associated with the corresponding wheel 104. Furthermore, during the calibration process, the load weight (e.g., magnitude) can be adjusted (e.g., increased and / or decreased), and the data interface circuitry 902 can cause the storage of additional data samples (e.g., additional measured corner weight and corresponding strain measurement) corresponding to the adjusted load weight. In some examples, the data interface circuit system 902 determines that the calibration process is complete when the number of data samples (e.g., quantity) meets (e.g., greater than or equal to) a sample threshold (e.g., at least 2 data samples, 10 or more data samples, etc.).

[0053] exist FIG. 9In some examples, the data interface circuitry 902 may also acquire data samples corresponding to different positions of the load on vehicle 100. For example, in addition to adjusting the weight of the load, or instead of adjusting the weight of the load, the position of the load may be adjusted (e.g., relative to the 2-D plane of vehicle 100), and the resulting corner weight and / or strain measurements may be recorded as data samples. For example, the load may be positioned forward or backward relative to the initial calibration position, and / or may be positioned closer to the right or left side of vehicle 100 (e.g., relative to the initial calibration position). In some examples, the data interface circuitry 902 determines the position of the load along the 2-D plane of vehicle 100 (e.g., relative to the initial calibration position) based on user input 920. In some such examples, the load position is stored in association with corresponding data samples of the corresponding wheels in wheel 104 (e.g., in database 914). In some examples, the data interface circuitry 902 is instantiated by and / or configured to operate by a programmable circuitry system that executes data interface circuitry system instructions, such as by... FIG. 12 and / or FIG. 13 The flowchart represents those operations.

[0054] FIG. 9 The calibration circuitry system 904 generates and / or updates one or more example calibration models (e.g., calibration curves) for estimating the vehicle weight of vehicle 100 (e.g., corner weight, load weight, GVW, etc.). For example, the calibration circuitry system 904 may generate a calibration model to output an estimated corner weight based on strain measurements associated with the corresponding wheel in wheel 104 (e.g., strain measurements from the corresponding strain gauge 114 mounted to the shock absorber tower associated with wheel 104).

[0055] exist FIG. 9 In the example shown, to generate a calibration model for a corresponding wheel 104, calibration circuitry 904 (e.g., from database 914) accesses a portion of a data sample obtained for the corresponding wheel 104 (e.g., from data interface circuitry 902). For example, this portion of the data sample includes strain measurements taken at wheel 104 when the load is positioned at the calibration location and the corresponding corner weight. In some examples, calibration circuitry 904 determines a correlation (e.g., a linear relationship) between the strain measurements and the corresponding corner weight.

[0056] For example, FIG. 10 The diagram shows the representation with FIG. 1 Example Figure 1000 shows a corresponding example data sample 1002 of wheel 104. FIG. 10In the example shown, Figure 1000 includes a first example axis (e.g., a horizontal axis) 1004 representing example corner weights (e.g., in kilograms) measured at wheel 104, and a second example axis (e.g., a vertical axis) 1006 representing strain on the shock absorber tower associated with wheel 104. In this example, data sample 1002 represents the strain and corner weight resulting from correspondingly different load weights applied to vehicle 100 (e.g., at the calibration position).

[0057] exist FIG. 10 In the example shown, calibration circuitry 904 generates and / or obtains an example calibration model 1008 based on data sample 1002. For example, calibration circuitry 904 may perform linear regression based on data sample 1002 to obtain calibration model 1008. In some examples, calibration model 1008 may be represented using gain and offset values, where the gain value is based on the slope of calibration model 1008 and the offset value is based on the intercept (e.g., y-intercept) of calibration model 1008 relative to the second axis 1006. In some examples, the offset value represents the strain on the shock absorber tower associated with the corresponding wheel 104 when no load is applied to vehicle 100. In some examples, calibration circuitry 904 provides calibration model 1008 to database 914 for storage.

[0058] In some examples, the calibration circuit system 904 is similarly for FIG. 1 One or more additional calibration models are generated for the corresponding remaining wheels in wheel 104, and the calibration models are stored in... FIG. 9 In database 914. Although four calibration models are generated in this example (e.g., one calibration model for each wheel 104), a different number of calibration models can be used alternatively. For example, a first calibration model can be generated for the front wheels of vehicle 100 (e.g., first wheel 104A and second wheel 104B), and a second calibration model can be generated for the rear wheels of vehicle 100 (e.g., third wheel 104C and fourth wheel 104D). In some examples, models are calibrated for a specific vehicle (e.g., vehicle 100) and / or vehicle type, and models are recalibrated for different vehicles and / or vehicle types (e.g., generating new calibration models). In some examples, calibration circuit system 904 is instantiated by and / or configured to operate by a programmable circuit system that executes calibration circuit system instructions, such as by... FIG. 13 The flowchart represents those operations.

[0059] Return to FIG. 9 , FIG. 9The weight estimation circuitry 906 utilizes a calibration model to determine and / or estimate an example weight of vehicle 100. For example, when a measured weight of vehicle 100 is unavailable (e.g., vehicle 100 is in operation and / or no longer positioned on one or more scales), the weight estimation circuitry 906 can utilize data from... FIG. 1 The strain gauge 114 sensor data 916 and calibration model are used to estimate the corner weight, GVW, and / or load weight on the vehicle 100. In such examples, the weight estimation circuitry 906 can estimate the vehicle weight without using a scale and / or a designated weight sensor on the vehicle 100, and thus can reduce the weight associated with the vehicle 100.

[0060] exist FIG. 9 In the example shown, weight estimation circuitry 906 obtains strain measurements associated with the corresponding shock absorber towers of wheel 104 from sensor data 916. Additionally, weight estimation circuitry 906 obtains calibration models of the corresponding wheels in wheel 104 from database 914. Using the calibration models, weight estimation circuitry 906 estimates the corner weight at the corresponding wheel in wheel 104 based on the corresponding strain measurements. In some examples, weight estimation circuitry 906 also estimates the GVW of vehicle 100 based on the estimated corner weight. For example, weight estimation circuitry 906 estimates GVW based on the total (e.g., sum) of corner weights. In some examples, weight estimation circuitry 906 determines the load weight (e.g., the weight of the load on vehicle 100) based on the difference between the GVW of vehicle 100 and its curb weight. Alternatively or additionally, weight estimation circuitry 906 may determine one or more corner load weights (e.g., the weight of the load at the corresponding wheel 104 of vehicle 100) based on the difference between the estimated corner weight of the corresponding wheel 104 and the corresponding corner curb weight. In some examples, the weight estimation circuitry 906 provides one or more estimates (e.g., estimated corner weight, estimated GVW, estimated load weight, estimated corner load weight, etc.) to a database 914 for storage. In some examples, the weight estimation circuitry 906 is instantiated by and / or configured to operate by a programmable circuitry that executes weight estimation circuitry instructions, such as by... FIG. 12 The flowchart represents those operations.

[0061] FIG. 9The position estimation circuitry 908 estimates example locations (e.g., center of mass locations) of loads on vehicle 100. For example, based on corner load weights (e.g., corner weights associated with loads on vehicle 100), the position estimation circuitry 908 can estimate the location of the center of mass of the loads along a 2-D plane (e.g., a horizontal plane, a ground plane) of vehicle 100. In some examples, the position estimation circuitry 908 estimates the location based on the ratio between corner load weights. For example, when the corner load weights are substantially the same on the respective wheels 104 (e.g., the loads are uniformly distributed on the wheels 104), the position estimation circuitry 908 can estimate that the center of mass of the loads is substantially equidistant between the wheels 104 (e.g., the center of mass is approximately midway between the front wheels 104A, 104B and the rear wheels 104C, 104D along the longitudinal axis of vehicle 100, and the center of mass is approximately midway between the left wheels 104A, 104C and the right wheels 104B, 104D along the lateral axis of vehicle 100).

[0062] In another example, the corner load weight can vary between the wheels 104. For example, the first corner load weight associated with the first wheel 104A could be approximately 40 kg, the second corner load weight associated with the second wheel 104B could be approximately 20 kg, the third corner load weight associated with the third wheel 104C could be approximately 30 kg, and the fourth corner load weight associated with the fourth wheel 104D could be approximately 10 kg (e.g., resulting in a total load of approximately 100 kg on the vehicle). In such an example, the position estimation circuitry 908 determines that the center of gravity of the load is offset forward / backward by 60 / 40 (e.g., 60 percent of the load is on the front wheels 104A and 104B, and 40 percent of the load is on the rear wheels 104C and 104D), and the center of gravity is also offset left / right by 70 / 30 (e.g., 70 percent of the load is on the left wheels 104A and 104C, and 30 percent of the load is on the right wheels 104B and 104D).

[0063] In some examples, the position estimation circuitry 908 estimates the longitudinal and lateral positions of the center of gravity (e.g., relative to the origin at the first wheel 104A) based on the ratio between the corner load weights. For example, the longitudinal position is measured along a longitudinal axis extending between the front and rear wheels 104 (e.g., from the first wheel 104A to the third wheel 104C). Furthermore, the lateral position is measured along a lateral axis extending between the left and right wheels 104 (e.g., from the first wheel 104A to the second wheel 104B). In the above examples, the position estimation circuitry 908 estimates the longitudinal position to be approximately 40% of a first distance (e.g., longitudinal distance) between the front wheels 104A, 104B and the rear wheels 104C, 104D, and also estimates the lateral position to be approximately 30% of a second distance (e.g., lateral distance) between the left wheels 104A, 104C and the right wheels 104B, 104D. Although the centroid position is described in this example relative to a coordinate system (e.g., lateral and longitudinal axes) located at the first wheel 104, in some examples, the position may be described relative to a different coordinate system. In some examples, the position estimation circuitry 908 causes the estimated positions (e.g., longitudinal and lateral positions) to be stored in a database 914. In some examples, the position estimation circuitry 908 is instantiated by and / or configured to operate by a programmable circuitry that executes position estimation circuitry instructions, such as by... FIG. 12 The flowchart represents those operations.

[0064] FIG. 9 The graph analysis circuit system 912 adjusts one or more estimated corner weights based on example correction factor maps (e.g., gain maps) generated and / or obtained by the graph analysis circuit system 912. In some examples, the correction factor map includes example correction factors for adjusting the gain value of the calibration model based on the location of the load. For example, when the load shifts on the vehicle 100 relative to an initial calibration position (e.g., the initial position for which the calibration model was generated), the shock absorber tower may deform differently (e.g., at a different rate) compared to when the load is at said calibration position. Therefore, the corner weight estimated using the calibration model may be inaccurate (e.g., may differ from the measured (e.g., actual, true) corner weight by more than a threshold amount). In such examples, the graph analysis circuit system 912 may obtain a correction factor from the correction factor map corresponding to the current location of the load (e.g., the center of mass of the load). The graph analysis circuit system 912 may apply the correction factor to the corresponding gain value of the calibration model (e.g., multiply the correction factor by it). In such examples, an adjusted calibration model (e.g., a calibration model with an adjusted gain value) can be used to determine an adjusted corner weight estimate, wherein the adjusted corner weight estimate can more accurately (e.g., compared to a previous corner weight estimate) represent the measured corner weight of vehicle 100.

[0065] In some examples, the correction factor map is pre-loaded in the graph analysis circuitry 912 and / or generated by the graph analysis circuitry 912 based on data samples collected by the data interface circuitry 902. For example, the position of a load (e.g., a calibration load) on vehicle 100 may be shifted and / or adjusted to a second position (e.g., different from the initial calibration position). Vehicle 100 can then be loaded (or unloaded) by increasing (or decreasing) the load at the second position, and the data interface circuitry 902 may collect data samples (e.g., strain measurements and associated nominal measurements) corresponding to the different loads applied at the second position. The graph analysis circuitry 912 may determine the correlation (e.g., linear relationship) between the strain measurements and the associated nominal measurements, and determine an adjusted gain value (e.g., for the corresponding strain gauge 114) based on said correlation. In some examples, the graph analysis circuitry 912 stores the adjusted gain value as an example correction factor in the correction factor map so that it can be applied to the corresponding calibration model when the load is positioned at the second position. For example, when the load is positioned at the second location, the calibration circuitry 904 utilizes an adjusted gain value from the calibration model (e.g., rather than an initial gain value determined by the calibration model for the calibration location). Alternatively or additionally, the graph analysis circuitry 912 determines a ratio between the adjusted gain value and the initial gain value and stores the ratio in a correction factor graph in association with the second location.

[0066] In some examples, the graph analysis circuit system 912 repeats the above process for corresponding different locations of the load on vehicle 100. Therefore, the graph analysis circuit system 912 determines correction factors corresponding to the corresponding different load locations on vehicle 100 where the load can be located. In some examples, the graph analysis circuit system 912 generates a correction factor map by storing (e.g., in database 914) the correction factors (e.g., adjusted gain values ​​and / or ratios) in association with the corresponding load locations. In some examples, the graph analysis circuit system 912 may utilize the correction factor map to adjust the calibration model to compensate for variations in strain measurements caused by unbalanced load distribution on wheel 104. For example, the graph analysis circuit system 912 may adjust the calibration model by replacing the initial gain value with an adjusted gain value from the correction factor map. In some examples, the graph analysis circuit system 912 may adjust the calibration model by multiplying the initial gain value by a ratio (e.g., to obtain an adjusted gain value).

[0067] In some examples, the position estimation circuitry 908 and the graph analysis circuitry 912 may execute and / or perform compensation algorithms to adjust one or more corner weights estimated by the weight estimation circuitry 906 based on the estimated position of the load. For example, after the weight estimation circuitry 906 estimates the corner weight based on sensor data 916, the position estimation circuitry 908 estimates the position of the load (e.g., center of mass position, first load position) based on the corner weight. Using a correction factor graph, the graph analysis circuitry 912 selects and / or identifies correction factors corresponding to the estimated load position. The graph analysis circuitry 912 may apply the selected correction factors to a calibration model to obtain an adjusted calibration model (e.g., a calibration model with adjusted gain values ​​relative to an initial calibration model), and then determine the updated corner weight of the corresponding wheel 104 based on the adjusted calibration model. In some examples, the position estimation circuitry 908 estimates a new and / or updated position of the load (e.g., a second load position) based on the updated corner weight, and then calculates the distance between the updated position and the previously estimated position (e.g., a 2-D distance along the horizontal plane of the vehicle 100).

[0068] In some examples, the distance between the updated position and the previous position (e.g., the first load position and the second load position) represents the error associated with the updated position. In some examples, the position estimation circuitry 908 and / or the graph analysis circuitry 912 repeat the above process until the distance between the previous position and the updated position meets an example threshold (e.g., an error threshold). For example, when the distance does not meet (e.g., is greater than) the error threshold, the updated position is used as the first position (e.g., the previous position), and (e.g., by the graph analysis circuitry 912 and / or the position estimation circuitry 908) a new correction factor and a new updated position are determined based on the first position. Alternatively, when the distance meets (e.g., is less than or equal to) the error threshold, the position estimation circuitry 908 determines that convergence of the position estimation has been achieved, and thus causes the estimated position and the corresponding adjusted weight to be stored in the database 914. In some examples, the graph analysis circuitry 912 is instantiated by and / or configured to operate by a programmable circuitry that executes graph analysis circuitry instructions, such as by... FIG. 12 The flowchart represents those operations.

[0069] FIG. 9The output circuitry 910 generates and / or outputs example weight information 922 based on one or more weights obtained and / or estimated by the vehicle weight estimation circuitry 102. For example, the weight information 922 may include estimated corner weight, estimated GVW, estimated load weight, and / or estimated corner load weight determined by the weight estimation circuitry 906. Furthermore, in some examples, the weight information 922 may include an estimated load position (e.g., the estimated centroid of the load) relative to the 2-D plane of the vehicle 100 (e.g., determined by the position estimation circuitry 908). In some examples, the output circuitry 910 is communicatively coupled to... FIG. 1 User interface 116. In such examples, output circuitry 910 may cause weight information 922 to be presented (e.g., displayed) via user interface 116 (e.g., to the operator of vehicle 100). In some examples, output circuitry 910 (e.g., via...) FIG. 1 The network 118) is communicatively coupled to one or more additional (e.g., remote) devices. In such an example, the output circuitry system 910 can provide weight information 922 to one or more additional devices for presentation and / or storage thereon.

[0070] In some examples, the output circuitry system 910 may generate an alarm when weight information 922 does not meet (e.g., exceeds) one or more weight ratings of vehicle 100. For example, in response to output circuitry system 910 determining that the estimated GVW is greater than the vehicle gross weight rating (GVWR) of vehicle 100, output circuitry system 910 may generate and / or output an alarm (e.g., via user interface 116) to notify the operator of vehicle 100 and / or instruct the operator to reduce the load on vehicle 100. In some examples, output circuitry system 910 is instantiated by and / or configured to operate by a programmable circuitry system that executes output circuitry system instructions, such as by... FIG. 12 The flowchart represents those operations.

[0071] FIG. 11A , FIG. 11B and FIG. 11C Example results comparing the estimated corner weight determined based on sensor data 916 with the measured corner weight determined based on weighing data 918 are shown. For example, FIG. 11A It shows the indication of targeting FIG. 1 Figure 1100 shows a first example of an estimated corner weight (e.g., based on sensor data 916) and a corresponding example of a measured corner weight (e.g., based on weighing data 918) obtained and / or determined in wheel 104. In some examples, FIG. 11AThe corner weight is determined during an example calibration process, in which the vehicle is loaded from the starting weight to the threshold weight during a first duration (e.g., the weight of the load on vehicle 100 gradually increases), and the vehicle is unloaded from the threshold weight to the starting weight during a second duration (e.g., the weight of the load gradually decreases).

[0072] exist FIG. 11A In the example shown, first Figure 1100 includes a first example axis (e.g., a horizontal axis) 1102 representing a duration (e.g., in seconds) relative to a start time and a second example axis (e.g., a vertical axis) 1104 representing the weight at wheel 104 (e.g., in kilograms). Furthermore, first Figure 1100 includes a first example line 1106 representing the estimated corner weight at the corresponding duration, where the estimated corner weight is based on a transformed sensor output from one of the strain gauges 114 coupled to the shock absorber tower of wheel 104. In this example, first Figure 1100 includes a second example line 1108 representing the measured corner weight at the corresponding duration. FIG. 11A In the example shown, the first figure 1100 includes a first example marker 1110 corresponding to a selected value of the estimated corner weight, and also includes a second example marker 1112 corresponding to a selected value of the measured corner weight (e.g., the measured corner weight corresponding to the selected estimated corner weight). In this example, the corresponding pairs of selected values ​​(e.g., the estimated corner weight and the corresponding measured corner weight) correspond to data samples obtained at corresponding durations along the first axis 1102.

[0073] FIG. 11B The diagram shows the representation with FIG. 11A Figure 1120 shows a second example of hysteresis analysis results corresponding to selected corner weight values ​​(e.g., estimated values ​​and corresponding measurements). FIG. 11B In the example shown, the second figure 1120 includes a third example axis 1122 representing a measured corner weight (e.g., scale weight) in kilograms, and a fourth example axis 1124 representing an estimated corner weight (e.g., sensor weight) in kilograms. In this example, the second figure 1120 includes a third example label 1126 and a fourth example label 1128, wherein... FIG. 11B The markings 1126 and 1128 indicate FIG. 11A The corresponding different data samples (e.g., FIG. 11A The corresponding pairs of first marker 1110 and second marker 1112). For example. FIG. 11BThe markings 1126 and 1128 represent the measured corner weight along the third axis 1122 and the corresponding estimated corner weight along the fourth axis 1124. In this example, the third marking 1126 represents a first data sample in the data samples obtained during the loading of the vehicle 100 (e.g., increasing the load), and the fourth marking 1128 represents a second data sample in the data samples obtained during the unloading of the vehicle 100 (e.g., reducing the load).

[0074] FIG. 11C It shows the representation FIG. 11A and / or FIG. 11B A third example figure 1130 shows the error (e.g., difference) between the estimated corner weight and the corresponding measured corner weight. For example, the third figure 1130 includes a fifth example axis 1132 representing the actual weight (e.g., the measured corner weight) in kilograms, and a sixth example axis 1134 representing the absolute error (e.g., in kilograms) between the estimated corner weight and the corresponding measured corner weight. FIG. 11C In the example shown, the fifth example, denoted by 1136, represents the first data sample obtained during loading of vehicle 100 (e.g., corresponding to...). FIG. 11B The error corresponding to the third mark 1126), and the sixth example mark 1138 represents the error corresponding to the second data sample obtained during loading of the vehicle 100 (e.g., corresponding to the error of the third mark 1126), and the error corresponding to the error of the sixth example mark 1138. FIG. 11B The error corresponding to the fourth mark 1128). FIG. 11C In the examples, a negative error value (e.g., an error value less than zero) indicates that the estimated corner weight underestimates (e.g., is less than) the corresponding measured corner weight data sample, and a positive error value (e.g., an error value greater than zero) indicates that the estimated corner weight overestimates (e.g., is greater than) the corresponding measured corner weight data sample. In some examples, by using the examples disclosed herein to estimate the corner weight, the error between the estimated corner weight and the measured corner weight is less than 20 kg.

[0075] In some examples, the vehicle weight estimation circuit system 102 includes components for acquiring data, components for calibration, components for estimating weight, components for estimating position, components for output, and components for graph analysis. For example, the components for acquiring data may be implemented by a data interface circuit system 902, the components for calibration may be implemented by a calibration circuit system 904, the components for estimating weight may be implemented by a weight estimation circuit system 906, the components for estimating position may be implemented by a position estimation circuit system 908, the components for output may be implemented by an output circuit system 910, and the components for graph analysis may be implemented by a graph analysis circuit system 912. In some examples, the data interface circuit system 902, calibration circuit system 904, weight estimation circuit system 906, position estimation circuit system 908, output circuit system 910, and / or graph analysis circuit system 912 may be instantiated by a programmable circuit system. Alternatively or concurrently, the data interface circuitry 902, calibration circuitry 904, weight estimation circuitry 906, position estimation circuitry 908, output circuitry 910, and / or graph analysis circuitry 912 may be instantiated by any other combination of hardware, software, and / or firmware. For example, the data interface circuitry 902, calibration circuitry 904, weight estimation circuitry 906, position estimation circuitry 908, output circuitry 910, and / or graph analysis circuitry 912 may be implemented by at least one or more hardware circuits (e.g., processor circuitry, discrete and / or integrated analog and / or digital circuitry, FPGA, ASIC, XPU, comparator, operational amplifier, logic circuitry, etc.) configured and / or structured to execute some or all of machine-readable instructions and / or perform some or all of the operations corresponding to the machine-readable instructions without executing software or firmware, but other structures are equally applicable.

[0076] Although FIG. 9 The implementation is shown in the figure. FIG. 1 The example method of the vehicle weight estimation circuit system 102, but FIG. 9 One or more of the elements, processes, and / or devices shown may be combined, divided, rearranged, omitted, eliminated, and / or implemented in any other way. Furthermore, FIG. 9The example data interface circuit system 902, example calibration circuit system 904, example weight estimation circuit system 906, example position estimation circuit system 908, example output circuit system 910, example graph analysis circuit system 912, example database 914, and / or more generally, example vehicle weight estimation circuit system 102 can be implemented by hardware only or by hardware combined with software and / or firmware. Therefore, for example, any of the example data interface circuit system 902, example calibration circuit system 904, example weight estimation circuit system 906, example position estimation circuit system 908, example output circuit system 910, example graph analysis circuit system 912, example database 914, and / or more generally, example vehicle weight estimation circuit system 102 can be implemented by a programmable circuit system combined with machine-readable instructions (e.g., firmware or software), processor circuit system, analog circuitry, digital circuitry, logic circuitry, programmable processor, programmable microcontroller, graphics processing unit (GPU), digital signal processor (DSP), ASIC, programmable logic device (PLD), and / or field-programmable logic device (FPLD) (such as FPGA). also, FIG. 9 Example vehicle weight estimation circuitry 102 may include one or more components, processes, and / or devices as a means of... FIG. 9 The elements, processes and / or devices shown may be supplemented or substituted, and / or may include more than one of any or all of the elements, processes and devices shown.

[0077] exist FIG. 12 and / or FIG. 13 The flowchart shown represents example machine-readable instructions that can be executed by a programmable circuit system to implement and / or instantiate. FIG. 9 The vehicle weight estimation circuitry 102, and / or an example operation, which can be implemented and / or instantiated by a programmable circuitry system. FIG. 9 The vehicle weight estimation circuit system 102. Machine-readable instructions may be one or more executable programs or portions of one or more executable programs executed by a programmable circuit system, and / or may be one or more functions or portions of functions to be performed by an example programmable circuit system (e.g., FPGA). In some examples, machine-readable instructions cause operations, tasks, etc., to be performed and / or carried out in an automated manner in the real world. As used herein, “automation” means without human intervention.

[0078] The program may be embodied in instructions (e.g., software and / or firmware) stored in one or more non-transitory computer-readable and / or machine-readable storage media, such as cache memory, magnetic storage devices or disks (e.g., floppy disks, hard disk drives (HDDs), etc.), optical storage devices or optical discs (e.g., Blu-ray discs, compact discs (CDs), digital versatile discs (DVDs), etc.), redundant arrays of independent disks (RAID), registers, ROM, solid-state drives (SSDs), SSD memory, non-volatile memory (e.g., electrically erasable programmable read-only memory (EEPROM), flash memory, etc.), volatile memory (e.g., random access memory (RAM) of any type), and / or any other storage device or disk. The instructions of the non-transitory computer-readable and / or machine-readable media may be programmed and / or executed by a programmable circuit system located in one or more hardware devices, but the entire program and / or portions thereof may alternatively be executed and / or instantiated by one or more hardware devices rather than a programmable circuit system, and / or embodied in dedicated hardware. Machine-readable instructions may be distributed across multiple hardware devices and / or executed by two or more hardware devices (e.g., server and client hardware devices). For example, client hardware devices may be implemented by endpoint client hardware devices (e.g., hardware devices associated with human and / or machine users) or by an intermediate client hardware device gateway (e.g., a radio access network (RAN)) that facilitates communication between the server and endpoint client hardware devices. Similarly, non-transitory computer-readable storage media may include one or more media. Furthermore, although references... FIG. 12 and / or FIG. 13The flowchart shown describes an example program, but many other methods of implementing the example vehicle weight estimation circuit system 102 may also be used alternatively. For example, the execution order of the flowchart blocks may be changed, and / or some of the described blocks may be changed, eliminated, or combined. Additionally or alternatively, any or all of the flowchart blocks may be implemented by one or more hardware circuits (e.g., processor circuitry, discrete and / or integrated analog and / or digital circuitry, FPGA, ASIC, comparator, operational amplifier, logic circuitry, etc.) structured to perform the corresponding operation without executing software or firmware. The programmable circuitry may be distributed across different network locations and / or local to one or more hardware devices (e.g., a single-core processor (e.g., a single-core CPU), a multi-core processor (e.g., a multi-core CPU, XPU, etc.)). For example, the programmable circuitry may be a CPU and / or FPGA located in the same package (e.g., the same integrated circuit (IC) package or in two or more separate housings), one or more processors in a single machine, multiple processors distributed across multiple servers in a server rack, multiple processors distributed across one or more server racks, and / or any combination thereof.

[0079] The machine-readable instructions described herein may be stored in one or more of the following formats: compressed format, encrypted format, segmented format, compiled format, executable format, and packaged format. As described herein, machine-readable instructions may be stored as data (e.g., computer-readable data, machine-readable data, one or more bits (e.g., one or more computer-readable bits, one or more machine-readable bits, etc.), bit streams (e.g., computer-readable bit streams, machine-readable bit streams, etc.)) or data structures (e.g., stored as parts of instructions, code, representations of code, etc.). For example, machine-readable instructions may be segmented and stored on one or more storage devices, disks, and / or computing devices (e.g., servers) located in the same or different locations (e.g., in the cloud, at an edge device, etc.) within a network or network set. Machine-readable instructions may require one or more of the following processes: installation, modification, rewriting, updating, combination, supplementation, configuration, decryption, decompression, unpacking, distribution, reallocation, compilation, etc., to enable them to be directly read, interpreted, and / or executed by computing devices and / or other machines. For example, machine-readable instructions may be stored in multiple parts, which are individually compressed, encrypted, and / or stored on separate computing devices, wherein the parts, when decrypted, decompressed, and / or combined, form a set of computer-executable and / or machine-executable instructions that implement one or more functions and / or operations of a program that together form a program such as the program described herein.

[0080] In another example, machine-readable instructions may be stored in a state that can be read by a programmable circuit system, but require the addition of libraries (e.g., dynamic link libraries (DLLs)), software development kits (SDKs), application programming interfaces (APIs), etc., to execute the machine-readable instructions on a specific computing device or other device. In another example, it may be necessary to configure the machine-readable instructions (e.g., store settings, input data, record network addresses, etc.) before they can be executed in whole or in part. Therefore, as used herein, machine-readable, computer-readable media, and / or machine-readable media may include instructions and / or programs, regardless of their specific format or state.

[0081] The machine-readable instructions described in this article can be represented by any past, present, or future instruction language, scripting language, programming language, etc. For example, any of the following languages ​​can be used to represent machine-readable instructions: C, C++, Java, C#, Perl, Python, JavaScript, Hypertext Markup Language (HTML), Structured Query Language (SQL), Swift, etc.

[0082] As mentioned above, it can be implemented using executable instructions (e.g., computer-readable instructions and / or machine-readable instructions) stored on one or more non-transitory computer-readable and / or machine-readable media. FIG. 12 and / or FIG. 13Example operation. As used herein, the terms non-transitory computer-readable medium, non-transitory computer-readable storage medium, non-transitory machine-readable medium, and / or non-transitory machine-readable storage medium are expressly defined to include any type of computer-readable storage device and / or storage disk, excluding propagated signals and transmission media. Examples of such non-transitory computer-readable medium, non-transitory computer-readable storage medium, non-transitory machine-readable medium, and / or non-transitory machine-readable storage medium include optical storage devices, magnetic storage devices, HDDs, flash memory, read-only memory (ROM), CDs, DVDs, caches, any type of RAM, registers, and / or any other storage device or storage disk in which information is stored for any duration (e.g., extended time period, permanently, for short-term cases, for temporary buffering, and / or for caching information). As used herein, the terms "non-transitory computer-readable storage device" and "non-transitory machine-readable storage device" are defined to include any physical (mechanical, magnetic, and / or electrical) hardware for retaining information for a period of time, excluding propagated signals and transmission media. Examples of non-transitory computer-readable storage devices and / or non-transitory machine-readable storage devices include any type of random access memory, any type of read-only memory, solid-state memory, flash memory, optical disk, magnetic disk, disk drive, and / or redundant array of independent disks (RAID) system. As used herein, the term "device" refers to a physical structure, such as mechanical and / or electrical equipment, hardware, and / or circuitry, that can be configured and / or may be manufactured or may not be manufactured to execute computer-readable instructions, machine-readable instructions, etc., whether or not by computer-readable instructions, machine-readable instructions, etc.

[0083] FIG. 12 This indicates that it can be executed, instantiated, and / or performed by a programmable circuit system to estimate and... FIG. 1 A flowchart of one or more example machine-readable instructions and / or example operations 1200 associated with one or more example weight measurements of vehicle 100. FIG. 9 Example machine-readable instructions and / or example operations 1200 begin at box 1202, wherein the example vehicle weight estimation circuitry 102 accesses and / or obtains one or more example calibration models associated with vehicle 100. For example, calibration models may be pre-loaded in the vehicle weight estimation circuitry 102 (e.g., in...). FIG. 9 (In database 914), and the example calibration circuit system 904 can access and / or obtain the calibration model from database 914. In some examples, the calibration circuit system 904 can be based on... FIG. 9 The example data interface circuit system 902 obtains input data (e.g., FIG. 13The calibration model is generated using sensor data 916, weighing data 918, and / or user input 920. The following combines... FIG. 1 The generation of the calibration model is further described.

[0084] At box 1204, the example vehicle weight estimation circuit system 102 is... FIG. 9 The strain gauge 114 obtains example strain measurements. For example, the data interface circuitry 902 obtains sensor data 916 from the strain gauges 114, which are operatively coupled to the respective damper towers of the vehicle 100. In some examples, the sensor data 916 includes strain measurements representing the strain on the surface of the respective damper tower.

[0085] At box 1206, the example vehicle weight estimation circuitry 102 estimates the example corner weight of vehicle 100 based on strain measurements and a calibration model. For example, FIG. 9 The example weight estimation circuit system 906 determines the corner weight corresponding to the strain measurement of the corresponding wheel 104 based on a calibration model.

[0086] At box 1208, the example vehicle weight estimation circuitry 102 estimates the load location (e.g., center of gravity location) based on estimated corner weight and corner curb weight. For example, FIG. 9 The example position estimation circuitry 908 can obtain a corner curb weight from a calibration model, which indicates the weight at the corresponding wheel 104 when vehicle 100 is unloaded (e.g., when there are no passengers and / or cargo on vehicle 100). Furthermore, the position estimation circuitry 908 determines an example corner load weight corresponding to the corresponding wheel 104 based on the difference between the estimated corner weight and the corresponding corner curb weight. In such examples, the corner load weight represents the weight of the load on the vehicle (e.g., no curb weight). Based on the ratio between the corner load weights, the position estimation circuitry 908 estimates the load position relative to a 2-D plane (e.g., a horizontal plane, a ground plane) of vehicle 100.

[0087] At box 1210, the example vehicle weight estimation circuitry 102 selects an example correction factor based on the estimated location. For example, FIG. 9 The example graph analysis circuitry system 912 accesses example correction factor maps generated and / or obtained for vehicle 100 (e.g., from database 914). For the corresponding different locations of loads on vehicle 100, the correction factor maps include correction factors to be applied to the corresponding calibration model. In some examples, the graph analysis circuitry system 912 selects correction factors from the correction factor maps corresponding to the estimated load locations.

[0088] At box 1212, example vehicle weight estimation circuitry 102 determines updated corner weights based on estimated locations. For example, graph analysis circuitry 912 applies a selected correction factor to adjust the gain value of a calibration model, and then determines updated corner weights based on the adjusted calibration model.

[0089] At box 1214, example vehicle weight estimation circuitry 102 estimates the new position of the load based on updated corner weights. For example, position estimation circuitry 908 estimates the new position based on the ratio between updated corner weights.

[0090] At box 1216, example vehicle weight estimation circuitry 102 calculates an example distance between the new position and the previously estimated position (e.g., the position estimated at box 1208). In some examples, position estimation circuitry 908 calculates the distance between the new position and the previous position along the 2-D plane of vehicle 100.

[0091] At box 1218, example vehicle weight estimation circuitry 102 determines whether the distance meets an example threshold (e.g., an error threshold). For example, when the distance is less than or equal to the threshold, position estimation circuitry 908 determines that the distance meets the threshold. In response to position estimation circuitry 908 determining that the distance does not meet (e.g., is greater than) the threshold (e.g., box 1218 returns a result of "No"), control returns to box 1210. Alternatively, in response to position estimation circuitry 908 determining that the distance meets (e.g., is less than or equal to) the threshold (e.g., box 1218 returns a result of "Yes"), control proceeds to box 1220.

[0092] At block 1220, example vehicle weight estimation circuitry 102 estimates one or more example weight metrics associated with vehicle 100 based on estimated corner weights. For example, weight estimation circuitry 906 estimates the GVW of vehicle 100 based on a combination of estimated corner weights (e.g., total, sum). Alternatively or additionally, weight estimation circuitry 906 may estimate the weight of loads on vehicle 100 (e.g., load weight) based on the difference between the estimated GVW of vehicle 100 and its curb weight.

[0093] At box 1222, the example vehicle weight estimation circuitry 102 causes the storage and / or presentation of one or more estimated weight metrics. For example, FIG. 1 Example output circuitry system 910 can provide estimated metrics (e.g., including estimated GVW, estimated corner weight, and / or estimated load weight) to database 914 for storage therein. Additionally or alternatively, output circuitry system 910 can cause... FIG. 13 The user interface 116 is used to present the estimated metrics.

[0094] At box 1224, the example vehicle weight estimation circuitry 102 determines whether to continue monitoring. For example, when additional sensor data 916 is received and / or when user input 920 includes a request to determine one or more weight metrics, the data interface circuitry 902 determines to continue monitoring. In response to the data interface circuitry 902 determining to continue monitoring (e.g., box 1224 returns a result of "Yes"), control returns to box 1204. Alternatively, in response to the data interface circuitry 902 determining not to continue monitoring (e.g., box 1224 returns a result of "No"), control terminates.

[0095] FIG. 13 This is a flowchart representing example machine-readable instructions and / or example operations 1300 that can be executed, instantiated, and / or performed by a programmable circuit system to generate one or more example calibration models. FIG. 9 Example machine-readable instructions and / or example operations 1300 begin at block 1301, wherein example vehicle weight estimation circuitry 102 obtains and / or causes to store initial strain measurements and / or cornering weights associated with the respective wheels 104 of vehicle 100. For example, when no load is applied to vehicle 100, FIG. 1 Example data interface circuit system 902 from FIG. 9 One or more of the strain gauges 114 obtain initial strain measurements. The data interface circuitry 902 also obtains the corner curb weight based on scale data 918 (e.g., representing the measured corner weight at the corresponding wheel 104). In some examples, the data interface circuitry 902 causes the initial strain measurements to be stored as one or more sample data points associated with the corresponding curb weight. FIG. 9 In database 914.

[0096] At box 1302, the vehicle weight estimation circuitry 102 detects and / or determines whether a load (e.g., a calibration load) is applied to the vehicle 100. For example, FIG. 1 Example data interface circuit system 902 receives new scale data 918 and / or based on the data... FIG. 1 User input 920 in user interface 116 determines that a load has been applied. In response to data interface circuitry 902 determining that no load has been applied (e.g., box 1302 returns a result of "No"), data interface circuitry 902 continues to monitor incoming data (e.g., scale data 918 and / or user input 920) until a load is applied. Alternatively, in response to data interface circuitry 902 detecting a load on vehicle 100 (e.g., box 1302 returns a result of "Yes"), control proceeds to box 1304.

[0097] At box 1304, the example vehicle weight estimation circuit system 102 is... FIG. 9One or more of the strain gauges 114 obtain example strain measurements. For example, the data interface circuitry 902 obtains the strain measurements included in sensor data 916 from the respective strain gauges in the strain gauges 114. In some examples, the strain measurements represent the strain on the corresponding damping tower surface on which the strain gauges 114 are mounted.

[0098] At block 1306, vehicle weight estimation circuitry 102 obtains an example measured corner weight based on scale data 918 and / or user input 920. For example, data interface circuitry 902 obtains the corner weight associated with the corresponding wheel 104 of vehicle 100 caused by the applied load, based on scale data 918 and / or user input 920.

[0099] At box 1308, the vehicle weight estimation circuitry 102 causes the strain measurement value to be stored in association with the measured corner weight. For example, the data interface circuitry 902 provides the strain measurement value and the corresponding measured corner weight to... FIG. 9 The database 914 contains data samples in which strain measurements are associated with the measured corner weights and stored as corresponding wheels in wheel 104.

[0100] At box 1310, vehicle weight estimation circuitry 102 determines whether the number of data samples collected and / or stored in database 914 meets an example threshold (e.g., a data sample threshold). In response to data interface circuitry 902 determining that the number of data samples meets (e.g., is greater than or equal to) the threshold (e.g., box 1310 returns a "yes" result), control proceeds to box 1314. Alternatively, in response to data interface circuitry 902 determining that the number of data samples does not meet (e.g., is less than) the threshold (e.g., box 1312 returns a "no" result), control proceeds to box 1312.

[0101] At box 1312, vehicle weight estimation circuitry 102 determines and / or detects whether the load has been adjusted (e.g., whether the load weight has increased or decreased). In some examples, data interface circuitry 902 determines that the load has been adjusted based on changes in scale data 918 and / or based on user input 920 indicating that the load has been adjusted. In response to data interface circuitry 902 determining that the load has not been adjusted (e.g., box 1312 returns a result "No"), data interface circuitry 902 continues to monitor incoming data (e.g., scale data 918 and / or user input 920) until an indication that the load has been adjusted is received. Alternatively, in response to data interface circuitry 902 determining that the load has been adjusted (e.g., box 1312 returns a result "Yes"), control returns to box 1304 to obtain one or more additional data samples.

[0102] At box 1314, the vehicle weight estimation circuitry 102 generates a calibration model based on the correlation between strain measurements and the measured corner weight. For example, FIG. 9 Example calibration circuit system 904 determines the correlation based on a linear regression between strain measurements included in the data sample and the corresponding measured corner weights, and generates a calibration model based on the correlation. In some examples, the calibration model for a given wheel 104 includes gain values ​​(e.g., slope) and offset values ​​(e.g., intercept values, y-intercept) representing the linear relationship between strain measurements at wheel 104 and the corresponding corner weights.

[0103] At box 1316, vehicle weight estimation circuitry 102 causes a stored calibration model. For example, calibration circuitry 904 provides the calibration model (e.g., gain values ​​and offset values) to... FIG. 9 The database 914 is used to store the data. In some examples, the calibration model can be... FIG. 14 The weight estimation circuitry 906 is accessed to estimate the corner weight, load weight, and / or GVW of vehicle 100.

[0104] FIG. 12 It is structured for execution and / or instantiation. FIG. 13 and / or FIG. 9 Example machine-readable instructions and / or example operations for implementation FIG. 12 A block diagram of an example programmable circuit system platform 1400 for a vehicle weight estimation circuit system 102. The programmable circuit system platform 1400 can be, for example, a server, personal computer, workstation, self-learning machine (e.g., neural network), mobile device (e.g., mobile phone, smartphone, such as iPad). TM Tablet computers, personal digital assistants (PDAs), internet devices, DVD players, CD players, digital video recorders, Blu-ray players, game consoles, personal video recorders, set-top boxes, headsets (e.g., augmented reality (AR) headsets, virtual reality (VR) headsets, etc.) or other wearable devices or any other type of computing and / or electronic device.

[0105] The illustrated programmable circuit system platform 1400 includes a programmable circuit system 1412. The illustrated programmable circuit system 1412 is hardware. For example, the programmable circuit system 1412 may be implemented by one or more integrated circuits, logic circuits, FPGAs, microprocessors, CPUs, GPUs, DSPs, and / or microcontrollers from any desired family or manufacturer. The programmable circuit system 1412 may be implemented by one or more semiconductor-based (e.g., silicon-based) devices. In this example, the programmable circuit system 1412 implements an example data interface circuit system 902, an example calibration circuit system 904, an example weight estimation circuit system 906, an example position estimation circuit system 908, an example output circuit system 910, an example graph analysis circuit system 912, and / or an example database 914.

[0106] The programmable circuit system 1412 of the example shown includes local memory 1413 (e.g., cache, registers, etc.). The programmable circuit system 1412 of the example shown communicates via bus 1418 with main memories 1414, 1416, including volatile memory 1414 and non-volatile memory 1416. Volatile memory 1414 may be implemented by synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM), RAMBUS® dynamic random access memory (RDRAM®), and / or any other type of RAM device. Non-volatile memory 1416 may be implemented by flash memory and / or any other desired type of memory device. Access to the main memories 1414, 1416 of the example shown is controlled by a memory controller 1417. In some examples, the memory controller 1417 may be implemented by one or more integrated circuits, logic circuits, microcontrollers, or any other type of circuit system from any desired family or manufacturer to manage data flows to and from the main memories 1414, 1416.

[0107] The programmable circuit system platform 1400 shown in the example also includes an interface circuit system 1420. The interface circuit system 1420 can be implemented in hardware according to any type of interface standard, such as an Ethernet interface, a Universal Serial Bus (USB) interface, a Bluetooth® interface, a Near Field Communication (NFC) interface, a Peripheral Component Interconnect (PCI) interface, and / or a Peripheral Component Interconnect High Speed ​​(PCIe) interface.

[0108] In the illustrated example, one or more input devices 1422 are connected to the interface circuitry 1420. The input devices 1422 allow users (e.g., human users, machine users, etc.) to input data and / or commands into the programmable circuitry 1412. The input devices 1422 can be implemented, for example, audio sensors, microphones, cameras (still or video), keyboards, buttons, mice, touchscreens, trackpads, trackballs, dot devices, and / or voice recognition systems.

[0109] One or more output devices 1424 are also connected to the interface circuitry 1420 of the illustrated example. The output devices 1424 may be implemented, for example, via display devices (e.g., light-emitting diode (LED), organic light-emitting diode (OLED), liquid crystal display (LCD), cathode ray tube (CRT) display, in-situ switch (IPS) display, touchscreen, etc.), haptic output devices, printers, and / or speakers. Therefore, the interface circuitry 1420 of the illustrated example typically includes a graphics driver card, a graphics driver chip, and / or a graphics processor circuitry, such as a GPU.

[0110] The interface circuit system 1420 of the example shown also includes communication devices, such as transmitters, receivers, transceivers, modems, residential gateways, wireless access points, and / or network interfaces, to facilitate data exchange with external machines (e.g., any kind of computing device) via network 1426. Communication can be carried out via, for example, Ethernet connections, digital subscriber line (DSL) connections, telephone line connections, coaxial cable systems, satellite systems, beyond-line-of-sight wireless systems, line-of-sight wireless systems, mobile phone systems, optical connections, etc.

[0111] The programmable circuit system platform 1400 illustrated also includes one or more mass storage disks or devices 1428 for storing firmware, software, and / or data. Examples of such mass storage disks or devices 1428 include magnetic storage devices (e.g., floppy disks, drives, HDDs, etc.), optical storage devices (e.g., Blu-ray discs, CDs, DVDs, etc.), RAID systems, and / or solid-state storage disks or devices, such as flash memory devices and / or SSDs.

[0112] can be FIG. 13 and / or ​ The machine-readable instructions 1432 implemented by the machine-readable instructions may be stored in mass storage device 1428, in volatile memory 1414, in non-volatile memory 1416, and / or on at least one non-transitory computer-readable storage medium (such as a CD or DVD) that may be removable.

[0113] "Comprising" and "including" (and all their forms and tenses) are used herein as open-ended terms. Therefore, whenever a claim uses any form of "comprising" or "including" (e.g., including, containing, encompassing, covering, having, etc.) as a preamble or within any kind of claim statement, it should be understood that additional elements, items, etc., may be present without falling outside the scope of the corresponding claim or statement. As used herein, when the phrase "at least" is used as a transitional term in the preamble of a claim, it becomes an open-ended term in the same way that the terms "comprising" and "including" become open-ended terms. The term "and / or," when used, for example, in forms such as A, B, and / or C, refers to any combination or subset of A, B, and C, such as (1) only A, (2) only B, (3) only C, (4) A and B, (5) A and C, (6) B and C, and (7) A and B and C. As used herein in the context of describing structures, components, articles, objects, and / or things, the phrase "at least one of A and B" is intended to refer to an implementation that includes (1) at least one A, (2) at least one B, or (3) at least one A and at least one B. Similarly, as used herein in the context of describing structures, components, articles, objects, and / or things, the phrase "at least one of A and B" is intended to refer to an implementation that includes (1) at least one A, (2) at least one B, or (3) at least one A and at least one B. As used herein in the context of describing the conduct or execution of processes, instructions, actions, activities, etc., the phrase "at least one of A and B" is intended to refer to an implementation that includes (1) at least one A, (2) at least one B, or (3) at least one A and at least one B. Similarly, as used herein in the context of describing the conduct or execution of processes, instructions, actions, activities, etc., the phrase “at least one of A or B” is intended to refer to an implementation that includes (1) at least one A, (2) at least one B, or (3) any one of at least one A and at least one B.

[0114] As used herein, singular references (e.g., "a," "an," "first," "second," etc.) do not exclude plurals. As used herein, the term "a / an" refers to one or more of the same object. The terms "a / an," "one or more," and "at least one" are used interchangeably herein. Furthermore, although listed separately, multiple means, elements, or actions may be implemented by, for example, the same entity or object. Additionally, while individual features may be included in different examples or claims, they may be combined, and inclusion in different examples or claims does not imply that a combination of features is impractical and / or advantageous.

[0115] As used herein, unless otherwise stated, the term "above" describes the relationship of two parts relative to the Earth. The first part is above the second part if the second part has at least one portion between the Earth and the first part. Similarly, as used herein, the first part is "below" the second part when the first part is closer to the Earth than the second part. As stated above, the first part may be above or below the second part in one or more of the following ways: when there are other parts between them, when there are no other parts between them, when the first and second parts are in contact, or when the first and second parts are not in direct contact with each other.

[0116] As used in this patent, a statement that any part (e.g., layer, film, region, area, or plate) is located on another part in any way (e.g., positioned on it, situated on it, disposed on it, or formed on it, etc.) indicates that the referenced part is in contact with the other part, or that the referenced part is above the other part, wherein one or more intermediate parts are located between them.

[0117] As used herein, unless otherwise indicated, a connection reference (e.g., attachment, coupling, linking, and linking) may include intermediate components between the elements referenced by the connection reference and / or relative movement between these elements. Therefore, a connection reference does not necessarily imply that two elements are directly connected and / or fixed to each other. As used herein, a statement that any part is “in contact” with another part is defined as meaning that there is no intermediate part between the two parts.

[0118] Unless otherwise specifically stated, descriptors such as “first,” “second,” and “third” as used herein do not in any way impose or otherwise indicate any meaning of priority, physical order, arrangement in a list, and / or sorting, but are merely used as labels and / or arbitrary names to distinguish elements for the purpose of understanding the disclosed examples. In some examples, the descriptor “first” may be used to refer to an element in a detailed description, while in the claims, different descriptors such as “second” or “third” may refer to the same element. In such cases, it should be understood that such descriptors are only used to clearly identify these elements in the context of the discussion (e.g., within the claims), in which the elements may otherwise share the same name.

[0119] As used herein, “approximately” and “about” modify their subject / value to identify the potential presence of variations that occur in real-world applications. For example, “approximately” and “about” may modify dimensions that may be imprecise due to manufacturing tolerances and / or other real-world defects, as will be understood by one of ordinary skill in the art. For example, unless otherwise stated herein, “approximately” and “about” may indicate that such dimensions are within tolerances of + / - 10%.

[0120] As used in this article, “substantially real-time” means occurring in a near-instantaneous manner, recognizing that there may be real-world delays for calculations, transmissions, etc. Therefore, unless otherwise stated, “substantially real-time” means real-time + / - 1 second.

[0121] As used herein, the phrase “to communicate” (including its variations) encompasses direct communication and / or indirect communication via one or more intermediate components, and does not require direct physical (e.g., wired) communication and / or continuous communication, but additionally includes selective communication at periodic intervals, scheduled intervals, non-periodic intervals and / or one-off events.

[0122] As used herein, a “programmable circuit system” is defined as including: (i) one or more special-purpose circuits (e.g., application-specific integrated circuits (ASICs)) that are structured to perform a particular operation and include one or more semiconductor-based logic devices (e.g., electrical hardware implemented by one or more transistors); and / or (ii) one or more general-purpose semiconductor-based circuits that can be programmed with instructions to perform a particular function and / or operation and include one or more semiconductor-based logic devices (e.g., electrical hardware implemented by one or more transistors). Examples of programmable circuit systems include programmable microprocessors, such as a central processing unit (CPU) capable of executing first instructions to perform one or more operations and / or functions, a field-programmable gate array (FPGA) (which can be programmed with second instructions to instantiate one or more operations and / or functions corresponding to the first instructions through FPGA configuration and / or structuring), a graphics processing unit (GPU) capable of executing first instructions to perform one or more operations and / or functions, a digital signal processor (DSP) capable of executing first instructions to perform one or more operations and / or functions, an XPU, a network processing unit (NPU), one or more microcontrollers capable of executing first instructions to perform one or more operations and / or functions, and / or integrated circuits such as application-specific integrated circuits (ASICs). For example, an XPU may be implemented by a heterogeneous computing system that includes multiple types of programmable circuit systems (e.g., one or more FPGAs, one or more CPUs, one or more GPUs, one or more NPUs, one or more DSPs, etc., and / or any combination thereof) and orchestration techniques (e.g., application programming interfaces (APIs)) that can assign computational tasks to one or more types of programmable circuit systems suitable for and available for performing the computational tasks.

[0123] As used herein, an integrated circuit / circuit system is defined as one or more semiconductor packages containing one or more circuit elements, such as transistors, capacitors, inductors, resistors, current paths, diodes, etc. For example, an integrated circuit can be implemented as one or more of an ASIC, FPGA, chip, microchip, programmable circuit system, semiconductor substrate connecting multiple circuit elements, system-on-a-chip (SoC), etc.

[0124] As can be understood from the foregoing, example systems, apparatuses, articles of manufacture, and methods for estimating the load and / or weight of a vehicle have been disclosed. The examples disclosed herein estimate the load and / or weight based on strain measurements from one or more strain gauges operatively coupled to (e.g., mounted on) the surface of a corresponding shock absorber tower of the vehicle. In some examples, by mounting the strain gauges on the corresponding shock absorber tower, the examples disclosed herein obtain measurable (e.g., sufficiently large) and consistent strain measurements for load and / or weight estimation. Furthermore, strain gauges may be more robust to temperature variations and / or noise (e.g., noise caused by hysteresis in one or more springs of the suspension system, suspension system sagging, bushing rotation, etc.) compared to suspension-based sensors (e.g., position and / or displacement sensors operatively coupled to the vehicle's suspension system). Therefore, load and / or weight estimation based on strain measurements associated with the shock absorber tower may be more reliable and / or more accurate than estimation using suspension-based techniques. By providing more accurate and / or more reliable load and / or weight estimates, the examples disclosed herein can prevent accidental overloading of vehicles and thus reduce the likelihood of deterioration of one or more components of the vehicle. Therefore, the disclosed systems, devices, articles, and methods relate to one or more improvements in the operation of machines such as computers or other electronic devices and / or mechanical devices.

[0125] This document discloses example methods, apparatus, systems, and articles of manufacture for estimating the weight of vehicles. Further examples, and combinations thereof, include the following: Example 1 includes an apparatus comprising an interface circuitry, machine-readable instructions, and at least one processor circuitry programmed by the machine-readable instructions to: obtain strain measurement data from a strain gauge coupled to the surface of a vehicle's shock absorber tower; estimate the vehicle's total weight based on the strain measurement data; and output the total vehicle weight for presentation via a user interface.

[0126] Example 2 includes a device as described in Example 1, wherein the surface is a first surface, the strain gauge is operatively coupled to the first surface via at least one mounting block, the at least one mounting block being either welded to the first surface or integrally formed in the first surface, the at least one mounting block providing a second surface for the strain gauge.

[0127] Example 3 includes the device as described in Example 2, wherein a first strain measured by the strain gauge on the first surface of the shock absorber tower is less than a second strain measured by the strain gauge on the second surface of at least one mounting block, the strain measurement data representing the second strain.

[0128] Example 4 includes the device as described in Example 1, wherein the surface corresponds to the top surface of the shock absorber tower between the fastener openings of the shock absorber tower.

[0129] Example 5 includes the device as described in Example 1, wherein the surface corresponds to the inner surface of the shock absorber tower, the inner surface facing the shock absorber connected to the shock absorber tower.

[0130] Example 6 includes the device as described in Example 1, wherein the surface corresponds to a side surface of the shock absorber tower, the side surface extending downward from the top surface of the shock absorber tower, the top surface including an opening for the shock absorber.

[0131] Example 7 includes a device as described in Example 1, wherein the strain gauge is a first strain gauge, the damper tower is a first damper tower, and wherein one or more of the at least one processor circuitry obtains the strain measurement data from a second strain gauge connected to a second damper tower of the vehicle, a third strain gauge connected to a third damper tower of the vehicle, and a fourth strain gauge connected to a fourth damper tower of the vehicle, the first damper tower, the second damper tower, the third damper tower, and the fourth damper tower being located near the respective wheels of the vehicle.

[0132] Example 8 includes the device as described in Example 7, wherein one or more of the at least one processor circuitry will: estimate the corner weight corresponding to the respective wheel of the vehicle based on the strain measurement data; estimate the position relative to the ground plane of the vehicle based on the corner weight, the position corresponding to the center of mass of the load on the vehicle; select a correction factor from a graph based on the position; adjust the corner weight based on the correction factor; estimate the total weight of the vehicle based on the sum of the adjusted corner weights; and output the total weight of the vehicle for presentation via a user interface.

[0133] Example 9 includes the device as described in Example 8, wherein one or more of the at least one processor circuitry estimates the load weight of the load on the vehicle based on the total weight of the vehicle and the curb weight of the vehicle.

[0134] Example 10 includes at least one non-transitory machine-readable medium comprising machine-readable instructions that cause at least one processor circuitry to at least: obtain strain measurement data from a strain gauge coupled to the surface of a vehicle's shock absorber tower; and estimate the vehicle's total weight based on the strain measurement data.

[0135] Example 11 includes at least one non-transitory machine-readable medium as described in Example 10, wherein the surface is a first surface, the strain gauge is operatively coupled to the first surface via at least one mounting block, the at least one mounting block being either welded to the first surface or integrally formed in the first surface, the at least one mounting block providing a second surface for the strain gauge.

[0136] Example 12 includes at least one non-transitory machine-readable medium as described in Example 10, wherein the surface corresponds to the top surface of the damping tower between the fastener openings of the damping tower.

[0137] Example 13 includes at least one non-transitory machine-readable medium as described in Example 10, wherein the surface corresponds to the inner surface of the shock absorber tower, the inner surface facing the shock absorber coupled to the shock absorber tower.

[0138] Example 14 includes at least one non-transitory machine-readable medium as described in Example 10, wherein the surface corresponds to a side surface of the damping tower, the side surface extending downward from the top surface of the damping tower, the top surface including an opening for the damper.

[0139] Example 15 includes at least one non-transitory machine-readable medium as described in Example 10, wherein the strain gauge is a first strain gauge, the shock absorber tower is a first shock absorber tower, and wherein the machine-readable instructions cause one or more of the at least one processor circuitry to obtain the strain measurement data from a second strain gauge connected to a second shock absorber tower of the vehicle, a third strain gauge connected to a third shock absorber tower of the vehicle, and a fourth strain gauge connected to a fourth shock absorber tower of the vehicle, the first shock absorber tower, the second shock absorber tower, the third shock absorber tower, and the fourth shock absorber tower being located near the respective wheels of the vehicle.

[0140] Example 16 includes at least one non-transitory machine-readable medium as described in Example 15, wherein the machine-readable instructions cause one or more of the at least one processor circuitry to: estimate a corner weight corresponding to the respective wheel of the vehicle based on the strain measurement data; estimate a position relative to the ground plane of the vehicle based on the corner weight, the position corresponding to the center of mass of the load on the vehicle; select a correction factor from a graph based on the position; adjust the corner weight based on the correction factor; and estimate the total weight of the vehicle based on the sum of the adjusted corner weights.

[0141] Example 17 includes a method comprising: obtaining strain measurement data from a strain gauge coupled to the surface of a shock absorber tower of a vehicle; estimating the total vehicle weight based on the strain measurement data; and outputting the total vehicle weight for presentation via a user interface.

[0142] Example 18 includes the method as described in Example 17, wherein the surface is a first surface, the strain gauge is operatively coupled to the first surface via at least one mounting block, the at least one mounting block being either welded to the first surface or integrally formed in the first surface, the at least one mounting block providing a second surface for the strain gauge.

[0143] Example 19 includes the method as described in Example 17, wherein the surface corresponds to the top surface of the shock absorber tower between the fastener openings of the shock absorber tower.

[0144] Example 20 includes the method as described in Example 17, wherein the surface corresponds to the inner surface of the damping tower, the inner surface facing the damper coupled to the damping tower.

[0145] Example 21 includes the method as described in Example 17, wherein the surface corresponds to a side surface of the damping tower, the side surface extending downward from the top surface of the damping tower, the top surface including an opening for the damper.

[0146] Example 22 includes the method as described in Example 17, wherein the strain gauge is a first strain gauge, the shock absorber tower is a first shock absorber tower, and wherein the machine-readable instructions cause one or more of the at least one processor circuitry to obtain the strain measurement data from a second strain gauge connected to a second shock absorber tower of the vehicle, a third strain gauge connected to a third shock absorber tower of the vehicle, and a fourth strain gauge connected to a fourth shock absorber tower of the vehicle, the first shock absorber tower, the second shock absorber tower, the third shock absorber tower, and the fourth shock absorber tower being located near the respective wheels of the vehicle.

[0147] The appended claims are hereby incorporated by reference into this specific embodiment. While certain example systems, devices, articles of manufacture, and methods have been disclosed herein, the scope of this patent is not limited thereto. Rather, this patent covers all systems, devices, articles of manufacture, and methods that fall fully within the scope of the claims of this patent.

Claims

1. An apparatus, the apparatus comprising: Interface circuit system; Machine-readable instructions; as well as At least one processor circuit, said at least one processor circuit being programmed by said machine-readable instructions to: Strain measurement data are obtained from a strain gauge (114), which is connected to the surface of a shock absorber tower (200) of the vehicle (100); The total weight of the vehicle (100) is estimated based on the strain measurement data; and The total weight of the vehicle is output and presented via the user interface (116).

2. The device of claim 1, wherein the surface is a first surface, the strain gauge (114) is operatively coupled to the first surface via at least one mounting block (702), the at least one mounting block (702) being either welded to the first surface or integrally formed in the first surface, the at least one mounting block (702) providing a second surface (706) for the strain gauge (114).

3. The device as claimed in claim 2, wherein a first strain measured by the strain gauge (114) on the first surface of the shock absorber tower (200) is less than a second strain measured by the strain gauge (114) on the second surface (706) of the at least one mounting block (702), the strain measurement data representing the second strain.

4. The device of claim 1, wherein the surface corresponds to the top surface (208) of the shock absorber (200) between the fastener openings (206) of the shock absorber (200).

5. The device of claim 1, wherein the surface corresponds to the inner surface (602) of the shock absorber tower (200), the inner surface (602) facing the shock absorber connected to the shock absorber tower (200).

6. The device of claim 1, wherein the surface corresponds to a side surface (304) of the shock absorber tower (200), the side surface (304) extending downward from the top surface (306) of the shock absorber tower (200), the top surface (306) including an opening (504) for the shock absorber.

7. The device of claim 1, wherein the strain gauge (114) is a first strain gauge (114), the damping tower (200) is a first damping tower (200), and wherein one or more of the at least one processor circuitry obtains the strain measurement data from a second strain gauge (114) of a second damping tower (200) connected to the vehicle (100), a third strain gauge (114) of a third damping tower (200) connected to the vehicle (100), and a fourth strain gauge (114) of a fourth damping tower (200) connected to the vehicle (100), the first damping tower, the second damping tower, the third damping tower, and the fourth damping tower (200) being close to the respective wheels (104) of the vehicle (100).

8. The device of claim 7, wherein one or more of the at least one processor circuitry will: The corner weight corresponding to the corresponding wheel (104) of the vehicle (100) is estimated based on the strain measurement data. The position relative to the ground plane of the vehicle (100) is estimated based on the corner weight, the position corresponding to the center of mass of the load on the vehicle (100); Select a correction factor from the graph based on the location; The corner weight is adjusted based on the correction factor; and The total weight of the vehicle is estimated based on the sum of the adjusted corner weights.

9. The device of claim 8, wherein one or more of the at least one processor circuitry estimates the load weight of the load on the vehicle (100) based on the total weight of the vehicle and the curb weight of the vehicle (100).

10. At least one non-transitory machine-readable medium, said at least one non-transitory machine-readable medium comprising machine-readable instructions that cause at least one processor circuit to at least: Strain measurement data is obtained from a strain gauge (114), which is connected to the surface of a shock absorber tower (200) of the vehicle (100); and The total weight of the vehicle (100) is estimated based on the strain measurement data; and The total weight of the vehicle is output and presented via the user interface (116).

11. The at least one non-transitory machine-readable medium of claim 10, wherein the surface is a first surface, the strain gauge (114) is operatively coupled to the first surface via at least one mounting block (702), the at least one mounting block (702) being either welded to the first surface or integrally formed in the first surface, the at least one mounting block (702) providing a second surface (706) for the strain gauge (114).

12. The at least one non-transitory machine-readable medium as claimed in claim 10, wherein the surface corresponds to the top surface (208) of the shock absorber (200) between the fastener openings (206) of the shock absorber (200).

13. The at least one non-transitory machine-readable medium as claimed in claim 10, wherein the surface corresponds to the inner surface (602) of the shock absorber tower (200), the inner surface (602) facing the shock absorber connected to the shock absorber tower (200).

14. The at least one non-transitory machine-readable medium of claim 10, wherein the surface corresponds to a side surface (304) of the damping tower (200), the side surface (304) extending downward from the top surface (306) of the damping tower (200), the top surface (306) including an opening (504) for a damper.

15. The at least one non-transitory machine-readable medium of claim 10, wherein the strain gauge (114) is a first strain gauge (114), the damper tower (200) is a first damper tower (200), and wherein the machine-readable instruction causes one or more of the at least one processor circuitry to obtain the strain measurement data from a second strain gauge (114) of a second damper tower (200) connected to the vehicle (100), a third strain gauge (114) of a third damper tower (200) connected to the vehicle (100), and a fourth strain gauge (114) of a fourth damper tower (200) connected to the vehicle (100), the first damper tower, the second damper tower, the third damper tower, and the fourth damper tower (200) being close to the respective wheels (104) of the vehicle (100).

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