Angle and orientation measurement for vehicles with multiple drivable segments

Abstract

The present disclosure relates to angle and orientation measurements for vehicles having multiple drivable sections. Techniques for measuring the angle and / or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of a semi-trailer truck) using an example rotary encoder assembly are described. The rotary encoder assembly includes a base surface, a housing including a second end connected to the base surface and a first end that is at least partially open and coupled to a housing cap, and a rotary encoder located in the housing between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft protruding from a first aperture located in the housing cap, and where a top of the rotatable shaft positioned away from the rotary encoder is coupled to a magnet(s).

Description

[0001] Priority claims and related patent applications

[0002] This patent application claims priority and benefit to U.S. Provisional Application No. 63 / 040,662, filed June 18, 2020, entitled “TRAILER ANGLE MEASUREMENTUSING A ROTARY ENCODER TO THE FIFTH WHEEL”. The entire disclosure of the aforementioned application is incorporated herein by reference as part of the disclosure of this application. Technical Field

[0003] This document relates to systems, apparatus, and methods for measuring angles and / or orientations on vehicles having multiple drivable sections. Background Technology

[0004] Autonomous vehicle navigation is a technology that allows a vehicle to sense the position and movement of vehicles around it and, based on this sensing, control the autonomous vehicle to safely navigate toward its destination. The autonomous vehicle can control steering angle, throttle volume to control its speed, gear shifting, and / or braking amount to control brake engagement. The autonomous vehicle can operate in several modes. In some situations, the autonomous vehicle allows the driver to operate it as a regular vehicle by controlling steering, throttle, clutch, gearshift lever, and / or other devices. In other situations, the driver can participate in the autonomous vehicle navigation technology to allow the vehicle to drive itself. Summary of the Invention

[0005] This patent document describes systems, apparatus, and methods for measuring the angle and / or orientation (e.g., direction of rotation) of the rear drivable section of a vehicle relative to the front drivable section of the vehicle.

[0006] In an exemplary embodiment, a vehicle includes a front drivable section comprising a first connector and a rotary encoder assembly. The first connector is coupled to the chassis of the front drivable section, wherein the first connector is positioned toward a rear region of the first drivable section. The rotary encoder assembly includes a base surface, a housing, and a rotary encoder. The base surface of the rotary encoder assembly includes a base surface coupled to a surface located below the first connector. The housing of the rotary encoder assembly includes a first end that is at least partially open and a second end opposite the first end, wherein the second end of the housing is coupled to the base surface, and wherein the first end of the housing is coupled to a housing cap. The rotary encoder assembly includes a rotary encoder located within the housing between the base surface and the housing cap, wherein the rotary encoder includes a rotatable shaft projecting from a first hole located in the housing cap, and wherein the top of the rotatable shaft, located away from the rotary encoder, is coupled to one or more magnets.

[0007] In some embodiments, the rotary encoder is coupled to a housing cap via a plurality of non-rigid compressible couplings comprising a plurality of shoulder screws, and at least a portion of each of the plurality of shoulder screws is located in one of a plurality of springs having a first end located below the housing cap and a second end located above the rotary encoder opposite the first end. In some embodiments, the housing cap includes a first set of holes along a first circumference of a first imaginary circle remote from the edge of the housing cap, wherein each of the first set of holes includes a low-friction washer ring through which the shoulder screws are coupled to the rotary encoder via the springs, wherein each shoulder screw includes a threaded head at one end, a threaded surface at the other opposite end, and a smooth shaft between the threaded head and the threaded surface, and wherein the threaded head of each shoulder screw is located at or above the housing cap, the smooth shaft of each shoulder screw is located in a spring, and the threaded surface of each shoulder screw is located in the body of the rotary encoder.

[0008] In some embodiments, the housing cap includes a second set of holes along a second circumference of a second imaginary circle, the second circumference being closer to the edge of the housing cap than the first circumference of a first imaginary circle including the first set of holes, wherein the second set of holes includes threaded elements for engaging the housing cap to a flange located at a first end of the housing. In some embodiments, a central region of the first connector includes a third hole, and wherein a top region of the rotary encoder assembly is accessible via the third hole in the first connector. In some embodiments, the plurality of shoulder threads and the plurality of springs are structured to retract the rotary encoder in a first position away from the housing cap in response to the absence of metallic material at the third hole in the first connector. In some embodiments, the plurality of shoulder threads and the plurality of springs are structured to extend the rotary encoder in a second position toward the housing cap in response to the presence of magnetic material at the third hole in the first connector. In some embodiments, the first connector includes a recess positioned rearward toward a forward drivable section, and wherein a central region of the first connector includes a third hole at which the recess terminates.

[0009] In some embodiments, the vehicle further includes a rear drivable section located behind the front drivable section, wherein the rear drivable section includes a second connector coupled to the first connector, and wherein the second connector is magnetically coupled via a third hole in the first connector to one or more magnets located at the top of a rotatable shaft of the rotary encoder assembly. In some embodiments, the rotatable shaft of the rotary encoder is structured to have rotational motion corresponding to the circumferential motion of the second connector of the rear drivable section, and wherein the circumferential motion of the second connector of the rear drivable section is converted into rotational motion of the rotatable shaft via the one or more magnets. In some embodiments, the first connector includes a fifth wheel, and wherein the second connector includes a kingpin. In some embodiments, the vehicle includes a semi-trailer truck, wherein the front drivable section includes a tractor unit, and wherein the rear drivable section includes a trailer unit.

[0010] In some embodiments, the front drivable section includes a computer comprising one or more processors and a memory configured to store one or more programs, wherein the one or more programs, when executed, configure the one or more processors to: receive information from a rotary encoder indicating the angle or direction of rotation of the rear drivable section relative to the front drivable section when the vehicle is operating on a road; and cause the vehicle to perform autonomous driving operations based on the angle or direction of rotation of the rear drivable section. In some embodiments, the one or more processors are configured to cause the vehicle to perform autonomous driving operations by: determining that the angle of the rear drivable section is outside a permissible angle range for the rear drivable section when the vehicle is operating on a road at a speed greater than or equal to a threshold; and sending commands to a motor in the vehicle's steering system to cause the vehicle to steer within the permissible angle range for the rear drivable section to move the trailer unit. In some embodiments, the one or more processors are further configured to: display the front drivable section and the rear drivable section on a monitor located in the vehicle, wherein the orientation of the rear drivable section relative to the front drivable section is displayed based on the angle received from the rotary encoder.

[0011] In some embodiments, the rotary encoder is connected to a movable cable, and the base surface includes a second hole located in a region, such that at least a portion of the movable cable enters the housing through the second hole, wherein the housing is connected to the base surface in that region.

[0012] In an exemplary embodiment, a rotary encoder assembly includes a base surface, a housing, and a rotary encoder. The base surface of the rotary encoder assembly includes a plurality of holes located near an edge of the base surface. The housing of the rotary encoder assembly includes a first end that is at least partially open and a second end opposite to the first end, wherein the second end of the housing is connected to the base surface, and wherein the first end of the housing is coupled to a housing cap. The rotary encoder assembly includes a rotary encoder located within the housing between the base surface and the housing cap, wherein the rotary encoder includes a rotatable shaft projecting from the first hole located in the housing cap, and wherein the top of the rotatable shaft, located away from the rotary encoder, is coupled to one or more magnets.

[0013] In some embodiments, the top of the rotatable shaft is coupled to one or more magnets via a shaft adapter. In some embodiments, the base surface includes a second hole in a region through which a rotary encoder can be connected to a movable cable, wherein the housing is connected to the base surface in this region, and the second hole in the base surface includes a low-friction washer through which the movable cable can be connected to the rotary encoder. In some embodiments, the rotary encoder is coupled to the housing cap via a plurality of non-rigid compressible couplings. In some embodiments, a first hole in the housing cap includes a low-friction washer through which at least a portion of the rotatable shaft protrudes from the first hole in the housing cap.

[0014] In yet another exemplary aspect, the methods described above and in this patent document are embodied in a computer-readable program stored on a non-transitory computer-readable medium. The computer-readable program includes code that, when executed by a processor, causes the processor to perform the methods described in this patent document.

[0015] In yet another exemplary embodiment, an apparatus configured or operable to perform the above-described method and / or the method described in this patent document is disclosed.

[0016] The above and other aspects and their embodiments are described in more detail in the accompanying drawings, description and claims. Attached Figure Description

[0017] Figure 1 A block diagram of an example ecosystem is shown, in which the angle and / or orientation of the rear drivable segment of a vehicle relative to the front drivable segment of the vehicle can be measured.

[0018] Figure 2 The image shows a rear view of a semi-trailer truck with a fifth wheel.

[0019] Figure 3A and Figure 3B An isometric view and a top view of the fifth wheel with the rotary encoder assembly are shown respectively.

[0020] Figure 3C A side cross-sectional view is shown in the direction along which the trailer unit and the fifth wheel move together to engage the fifth wheel.

[0021] Figure 3D A side cross-sectional view of the trailer unit and the fifth wheel is shown, with the trailer unit engaged with the fifth wheel.

[0022] Figure 3E and Figure 3F This is an enlarged view of a rotary encoder assembly with a rotary encoder in both the retracted and extended positions.

[0023] Figure 4A and Figure 4B Isometric views and cross-sectional views of the rotary encoder assembly are shown, respectively.

[0024] Figure 4C An example of a shoulder threaded part is shown. Detailed Implementation

[0025] The development of autonomous driving technology has led to the development of passenger vehicles capable of autonomously driving passengers to their destinations. However, when employing autonomous driving technology in vehicles with multiple drivable sections (e.g., semi-trailer trucks), certain unique challenges need to be addressed. For example, a semi-trailer truck may have multiple drivable sections, where, for instance, the tractor unit (in which the driver may be seated) moves in a different manner than the trailer unit (in which cargo may be located), where the trailer unit is connected to the tractor unit. Unlike semi-trailer trucks, passenger vehicles can maneuver more easily on roads, at least because passenger vehicles tend to have a single rigid body. This patent document describes a technique that enables a vehicle having multiple drivable sections (e.g., a semi-trailer truck with a tractor unit and a trailer unit, a truck or car with a fifth-wheel camper) to measure the angle and / or orientation of the rear drivable section (e.g., the trailer unit or the fifth-wheel camper) relative to the front drivable section (e.g., the tractor unit, the truck, or the car), such that the angle and / or orientation of the rear drivable section relative to the front drivable section can be taken into account from the driver's vehicle, for example.

[0026] As shown below, in Part I, this patent document describes devices located on or within a vehicle that can perform autonomous driving operations using angle and / or orientation measurements. In Part II of this patent document, techniques are described to enable the measurement of the angle and / or orientation of the rear drivable section of a vehicle relative to the front drivable section of the vehicle. The example headings for the following sections are intended to facilitate understanding of the disclosed subject matter and do not in any way limit the scope of the claimed subject matter. Therefore, one or more features of one example section may be combined with one or more features of another example section.

[0027] I. Example Autonomous Vehicle Technologies for Using Angle and / or Orientation Measurements

[0028] Figure 1 A block diagram of an example vehicle ecosystem 100 is shown, in which autonomous driving-related operations can be implemented in an onboard control computer 150. The vehicle ecosystem 100 includes several systems and components that can generate and / or deliver one or more information / data sources and related services to the onboard control computer 150 located in a vehicle 105. Examples of vehicles 105 include automobiles, trucks, or semi-trailer trucks. The onboard control computer 150 can communicate data with multiple vehicle subsystems 140, all of which can reside in a user's vehicle 105. A vehicle subsystem interface 160 (e.g., a Controller Area Network (CAN) device) is provided to facilitate data communication between the onboard control computer 150 and the multiple vehicle subsystems 140.

[0029] Vehicle 105 may include various vehicle subsystems that support the operation of vehicle 105. Vehicle subsystems may include vehicle drive subsystem 142, vehicle sensor subsystem 144, and / or vehicle control subsystem 146. Vehicle drive subsystem 142 may include components operable to provide powered motion to vehicle 105. In an example embodiment, vehicle drive subsystem 142 may include an engine or motor, wheels / tires, transmission, electrical subsystems, and a power source.

[0030] The vehicle sensor subsystem 144 may include a plurality of sensors configured to sense information about the environment or conditions of the vehicle 105. For example, the vehicle sensor subsystem 144 may include a rotary encoder assembly, an inertial measurement unit (IMU), a global positioning system (GPS) transceiver, a radar (RADAR) unit, a laser rangefinder / LiDAR (LIDAR) unit, and / or one or more cameras or image capture devices. As further explained in Part II of this patent document, the rotary encoder assembly is designed or configured to provide one or more measurements relating to the angle and / or orientation of the rear drivable section (e.g., the tractor unit) relative to the front drivable section (e.g., the trailer unit). In some embodiments, the rotary encoder assembly may be an absolute encoder that can provide the angle and / or orientation of the rear drivable section relative to the front drivable section. The vehicle sensor subsystem 144 may also include sensors configured to monitor the internal systems of the vehicle 105 (e.g., an O2 monitor, a fuel gauge, and engine oil temperature).

[0031] The IMU may include any combination of sensors (e.g., accelerometers and gyroscopes) configured to sense changes in the position and orientation of vehicle 105 based on inertial acceleration. The GPS transceiver may be any sensor configured to estimate the geographic location of vehicle 105. For this purpose, the GPS transceiver may include a receiver / transmitter operable to provide information about the position of vehicle 105 relative to the Earth. The RADAR unit may represent a system that uses radio signals to sense objects within the local environment of vehicle 105. In some embodiments, in addition to sensing objects, the RADAR unit may also be additionally configured to sense the velocity and direction of travel of objects near vehicle 105. A laser rangefinder or LIDAR unit may be any sensor configured to use lasers to sense objects in the environment in which vehicle 105 is located. The camera may include one or more devices configured to capture multiple images of the environment of vehicle 105. The camera may be a still image camera or a motion video camera.

[0032] The vehicle control system 146 can be configured to control the operation of the vehicle 105 and its components. Therefore, the vehicle control system 146 may include various elements such as throttles, braking units, navigation units, and / or steering systems.

[0033] The throttle can be configured to control, for example, the operating speed of the engine and thus the speed of the vehicle 105. The braking unit can include any combination of mechanisms configured to decelerate the vehicle 105. The braking unit can use friction to decelerate the wheels in a standard manner. The navigation unit can be any system configured to determine a driving path or route for the vehicle 105. The navigation unit can be additionally configured to dynamically update the driving path while the vehicle 105 is in operation. In some embodiments, the navigation unit can be configured to incorporate data from a GPS transceiver and one or more predetermined maps to determine the driving path of the vehicle 105. The steering system can represent any combination of mechanisms operable to adjust the direction of travel of the vehicle 105 in autonomous mode or driver-controlled mode.

[0034] Many or all of the functions of vehicle 105 can be controlled by onboard control computer 150. Onboard control computer 150 may include at least one data processor 170 (which may include at least one microprocessor) that executes processing instructions stored in a non-transitory computer-readable medium (such as memory 175). Onboard control computer 150 may also represent multiple computing devices that can be used to control various components or subsystems of vehicle 105 in a distributed manner. In some embodiments, data storage device 175 may contain processing instructions (e.g., program logic) that can be executed by data processor 170 to perform various methods and / or functions of vehicle 105, including those described in this patent document. For example, as further explained in Part II of this patent document, the data processor 170 performs operations associated with the autonomous driving module 165 to operate various vehicle subsystems of the vehicle 105 (e.g., vehicle drive subsystem 142, vehicle sensor subsystem 144, and vehicle control subsystem 146) to autonomously operate the vehicle 105 using information provided by the rotary encoder assembly (e.g., the angle and / or orientation of the rear drivable section relative to the front drivable section of the vehicle 105). The data storage device 175 may also include additional instructions, including for transmitting data to one or more of, receiving data from one or more of, interacting with one or more of, or controlling one or more of the following: vehicle drive subsystem 142, vehicle sensor subsystem 144, and vehicle control subsystem 146. The onboard control computer 150 may be configured to include the data processor 170 and the data storage device 175.

[0035] The onboard control computer 150 can control the functions of the vehicle 105 based on inputs received from various vehicle subsystems, such as the vehicle drive subsystem 142, the vehicle sensor subsystem 144, and the vehicle control subsystem 146. For example, the onboard control computer 150 can use data from the rotary encoder assembly to control the steering system to turn the vehicle 105 by taking into account the orientation and angle of the rear drivable section relative to the front drivable section. In an example embodiment, the onboard control computer 150 can be operable to provide control over many aspects of the vehicle 105 and its subsystems.

[0036] II. Example rotary encoder assembly for performing angle and / or orientation measurements

[0037] Figure 2 A rear view of a semi-trailer truck with a fifth wheel is shown. The semi-trailer truck includes a tractor unit 202, which includes a fifth wheel 204 positioned toward a rear region 212 of the tractor unit 202. The fifth wheel 204 is movably coupled to the chassis 210 of the semi-trailer truck, allowing it to move toward or away from the cab 206 of the tractor unit 202 for mounting different types of trailer units. The fifth wheel 204 may have an "A"-shaped cutout area or an inverted "V"-shaped cutout area or groove positioned on the fifth wheel 204 toward or away from the cab 206 (where the driver may sit) of the tractor unit 202. The groove extends inward from the edge of the fifth wheel 204 furthest from the cab 206. The groove terminates at a central region 208 of the fifth wheel 204. The groove in the fifth wheel allows the kingpin of the trailer unit to slide internally and lock the trailer unit and the fifth wheel into place together, so that the trailer unit is connected to the tractor unit via the kingpin and the fifth wheel. The fifth wheel may be covered with grease, allowing the trailer unit to slide along the top surface of the fifth wheel. In the central region 208 of the groove is a hole through which the rotary encoder assembly can engage with the kingpin of the trailer unit, as explained further below. In some conventional embodiments, the fifth wheel does not include position sensing equipment, so there is no need for sensing or measuring the angle of the trailer unit at the fifth wheel.

[0038] Figure 3A and Figure 3B An isometric view and a top view are shown, respectively, of a fifth wheel 302 with a rotary encoder assembly 304 located in or below a hole 306 in the fifth wheel 302. Figure 3C The diagram shows a side cross-sectional view along the direction in which trailer unit 308 and fifth wheel 302 move together to engage fifth wheel 302. Trailer unit 308 includes kingpin 310, which, when the trailer is in... Figure 3CWhen the fifth wheel 302 is engaged from right to left, the kingpin slides within a groove in the fifth wheel 302. Below the fifth wheel 302 is a mounting surface 316, which can be connected to the fifth wheel 302, allowing the mounting surface 316 and the fifth wheel 302 to move toward or away from the cab in the tractor unit for mounting different types of trailer units. The bottom portion of the rotary encoder assembly 304 can be coupled to the mounting surface 316 below the fifth wheel 302. The rotary encoder assembly 304 is coupled to the mounting surface 316 below the fifth wheel 302 at a location where at least a portion of the rotary encoder assembly 304 overlaps with and is below a hole 306 in the fifth wheel 302. Figure 3A and Figure 3B As shown in the figure. In some embodiments, the rotary encoder assembly 304 is coupled to a mounting surface 316 below the fifth wheel 302 at a location where the rotary encoder assembly 304 is located directly below the central region of the fifth wheel 302, such that at least the top region of the rotary encoder assembly 304 is accessible via the hole 306.

[0039] One of the technical advantages of coupling the rotary encoder assembly 304 to the mounting surface 316 below the fifth wheel 302 is that the rotary encoder assembly 304 can be mounted on a single tractor unit instead of multiple trailer units. Furthermore, the rotary encoder assembly 304 can be mounted on the tractor unit without involving the driver. Another technical advantage of the rotary encoder assembly being located above or within the tractor unit is that the rotary encoder assembly 304 can be communicatively coupled (e.g., via...). Figure 3D-3F Cable 314) to the vehicle control computer (in Figure 1 (shown as 150), the onboard control computer may also be located in the tractor unit to provide information related to the angle and / or orientation of the trailer unit.

[0040] Figure 3D A side cross-sectional view of trailer unit 308 and fifth wheel 302 is shown, with trailer unit 308 engaged with fifth wheel 302. Figures 4A to 4B To further explain, the top region of the rotary encoder assembly 304 includes one or more magnets such that when the metal kingpin 310 (e.g., a steel kingpin) of the trailer unit 308 is within the magnetic field of the one or more magnets located on the top of the rotary encoder assembly 304, at least a portion of the rotary encoder assembly 304 (such as the rotary encoder 312) extends toward and is magnetically coupled to (or magnetically attached to) the kingpin 310. Figure 3EThis is an enlarged view of a rotary encoder assembly 304 with a rotary encoder 312. The rotary encoder is in a retracted position when the kingpin 310 moves to engage the fifth wheel 302 and is not near the rotary encoder assembly 304, or when the kingpin 310 is not present in the hole 306 in the fifth wheel 302. Figure 3E In the diagram, the left-pointing arrow indicates the movement of the master pin 310 and the trailer unit 308. When the master pin 310 is not within the magnetic field of the one or more magnets located on top of the rotary encoder assembly 304, the rotary encoder 312 and cable 314 in the rotary encoder assembly 304 are in the retracted position. When the rotary encoder 312 is in the retracted position, there is a gap between the top of the one or more magnets located on top of the rotary encoder assembly 304 and the bottom of the master pin, which has slid into place to engage the fifth wheel.

[0041] Figure 3F This is an enlarged view of a rotary encoder assembly 304 with a rotary encoder 312, in which the rotary encoder is in an extended position when the master pin 310 is close to the rotary encoder assembly 304 and engaged with the fifth wheel, or when at least a portion of the master pin 310 is located above the hole 306 in the fifth wheel 302. Figure 3F The upward-pointing arrow illustrates the movement of the rotary encoder 312 and cable 314 in the rotary encoder assembly 304 when the one or more magnets on the top of the rotary encoder assembly 304 are magnetically engaged with the master pin 310, causing the rotary encoder 312 in the rotary encoder assembly 304 to be in the extended position. As the master pin 310 disengages from the fifth wheel and moves away from the rotary encoder assembly 304, the master pin slides off the one or more magnets on the top of the rotary encoder assembly 304, causing the rotary encoder 312 to move downward and into the retracted position.

[0042] Figure 4A and Figure 4B Isometric views and cross-sectional views of a rotary encoder assembly 400 are shown, respectively. The rotary encoder assembly 400 may include a housing 402 having a top region (or one end) 402b and a bottom region 402a (or the other end) opposite the top region 402b. The bottom region 402a of the housing 402 is connected to a base surface 404. The top region 402b of the housing 402 may have a circular opening with a flange 410 extending outwardly from the periphery of the top region of the housing 402. In some embodiments, such as Figure 4A and Figure 4BAs shown, housing 402 may have a cylindrical shape. Base surface 404 may have a square or rectangular shape and have a plurality of holes, which may be positioned near the edge of base surface 404 (or at a certain distance from the edge of base surface 404) (e.g., at a corner of base surface 404). Base surface 404 may include holes 422 located within region 438, where housing 402 is connected to base surface 404. Holes 422 of base surface 404 can be used to connect cable 406 to rotary encoder 408 enclosed within housing 402 via base surface 404. Cable 406 includes a set of wires for supplying power to rotary encoder 408 and receiving angle and / or orientation information measured by rotary encoder 408 for transmission to onboard control computer (in Figure 1 (Indicated as 150). Cable 406 allows the rotary encoder 408 to interface with the onboard control computer via SAE J1939 standard or via Controller Area Network (CAN) bus. See figure. Figure 4B As shown, a low-friction washer or smooth washer (e.g., a low-friction nylon shaft washer) is located at the hole 422 in the base surface 404 between the cable 406 and the hole 422, such that when the compression spring 418 is compressed and extended, the rotary encoder 408 together with at least some portion of the cable 406 can move up and down, as explained further below.

[0043] The base surface 404 may include, for example, Figure 4A The four holes shown are located at one of the corners of the base surface 404. These holes at the corners of the base surface 404 allow the base surface 404 to be threaded onto a mounting surface below the fifth wheel. In some embodiments, the base surface 404 may have another shape, such as circular, elliptical, or triangular, wherein the holes for attaching the base surface 404 to the mounting surface below the fifth wheel are positioned toward the perimeter of the base surface 404.

[0044] The flange 410 of housing 402 includes a plurality of holes located around the perimeter of the flange, allowing housing cap 414 to be threaded onto housing 402. For example, as Figure 4A As shown, four threaded members 412a-412d, located at or near the outer periphery of the housing cap 414, are used to secure the housing cap 414 to the flange 410 of the housing 402. In some embodiments, the flange 410 may extend inward from the periphery of the top region of the housing 402.

[0045] The housing cap 414 protects the rotary encoder 408 from environmental influences, such as grease or debris that may fall from the trailer unit. In some embodiments, the housing cap 414 may have a flat, round shape, which may correspond to the cylindrical shape of the housing 402. The shape of the housing cap 414 may extend to the edge of the flange 410 or to the outer wall of the housing 402. The housing cap 414 includes two sets of holes. The first set of holes in the housing cap 414 is located near a first perimeter of the outer edge of the housing cap 414, such that a first set of multiple threaded elements (e.g., Figure 4A The four threaded elements 412a-412d can be used to connect the housing cap 414 to the flange 410 of the housing 402. A second set of holes in the housing cap 414 is included at a second perimeter at a distance from the outer edge of the housing cap 414, such that the second set of multiple threaded elements (e.g., Figure 4A Four threaded elements 416a-416d can be used to connect the rotary encoder 408 to the housing cap 414. The second perimeter of the hole in the housing cap can be located within the first perimeter of the hole in the housing cap. A second set of multiple threaded elements can be shoulder threaded elements, having a threaded head at one end, a threaded surface at the other end, and a smooth shaft (e.g., a cylindrical shaft) between the threaded head and the threaded surface. Figure 4C An example of a shoulder threaded member 416 is shown. The shoulder threaded member is inserted from the top of the housing cap 414 such that the threaded head of each shoulder threaded member is located at or above the housing cap 414, and the threaded surface of each shoulder threaded member is screwed into the body of the rotary encoder 408.

[0046] Each shoulder threaded member is inserted through a low-friction washer 420 or a smooth washer 420 through a hole in the housing cap 414 and then through a compression spring 418 to engage with the rotary encoder 408. The low-friction washer or smooth washer may be a low-friction nylon shaft washer located between the shoulder threaded member and the second set of holes. The end of the compression spring 418 is located between the rotary encoder 408 and the housing cap 414, such that when the compression spring 418 is mostly extended, the rotary encoder 408 is in a retracted position away from the housing cap 414 within the housing 402 (e.g., when the compression spring 418 is mostly extended). Figure 3E As shown in the diagram), and when the compression spring 418 is mostly compressed, the rotary encoder 408 is in an extended position toward the housing cap 414 (as shown in the diagram). Figure 3F (As shown in the diagram). Therefore, when no trailer unit is engaged with the fifth wheel, the rotary encoder 408 is in the retracted position, at least because the weight of the rotary encoder 408 and the compression spring 418 pushes the rotary encoder 408 downward.

[0047] At least a portion of the smooth shaft of each shoulder thread is located inside the compression spring 418, such that the shoulder threads 416a-416d act as guides for the compression spring 418, which can create a non-rigid compressible connection or non-rigid compressible coupling between the rotary encoder 408 and the housing 402 and / or between the rotary encoder 408 and the housing cap 414. Figure 3F As shown, when the one or more magnets located on top of the rotary encoder assembly 400 are magnetically coupled to the kingpin of the trailer unit, the one or more magnets will cause the rotary encoder 408 (in) to... Figure 3F (shown as 312) along with cable 406 (in) Figure 3F (As shown in 314) caused by pulling upward toward the master pin, at least some portion of the top of the shoulder thread extends above the housing cap of the rotary encoder assembly 400.

[0048] The rotary encoder 408 may be a commercial off-the-shelf (COTS) absolute encoder that provides angular and / or orientation (e.g., direction of rotation) information to an onboard control computer. In some embodiments, the rotary encoder 408 may be a mechanical rotary encoder, an optical rotary encoder, or an electrical rotary encoder. The top region of the rotary encoder 408 includes a rotatable shaft 424. The rotary encoder 408 measures the angle and / or orientation of the rotatable shaft 424 relative to the base surface 404 or housing 402 of the rotary encoder assembly 400, such that the rotary encoder 408 provides an electrical signal to the onboard control computer indicating the angle and / or orientation of the rotatable shaft 424 relative to the base surface 404 or housing 404 of the rotary encoder assembly 400.

[0049] After the rotatable shaft 424 extends together with the rotary encoder 408 to be coupled to the kingpin via the one or more magnets 430 and shaft adapter 424 (as further explained below), the rotatable shaft 424 rotates together with the kingpin when the trailer turns. Since the base surface 404 of the rotary encoder assembly 400 is coupled to the mounting surface below the fifth wheel, and since the rotary encoder 408 is coupled to the housing cap via a shoulder thread, when the rotary encoder 408 with the rotatable shaft 424 extends to magnetically engage the kingpin, the rotatable shaft 424 of the rotary encoder 408 rotates with the kingpin, while the body of the rotary encoder 408 mostly does not rotate with the kingpin. Therefore, the circumferential motion of the kingpin is converted into rotatable or rotational motion of the rotatable shaft 424, which the rotary encoder 408 uses to measure the angle and / or orientation of the trailer unit relative to the tractor unit. The rotatable shaft 424 protrudes or extends from a hole 426 in the center of the housing cap 414. Figure 4BAs shown, a low-friction washer or smooth washer (e.g., a low-friction nylon shaft washer) is located in the hole 426 in the center of the housing cap 414 between the rotatable shaft 424 and the hole 426 in the center of the housing cap 414, such that when the compression spring 418 is compressed and extended, the rotatable shaft 424 (which is part of the rotary encoder 408) together with at least some portion of the cable 406 can move up and down, as explained above.

[0050] The top region of the rotatable shaft 424 includes a shaft adapter 428, which can be connected to the rotatable shaft by press fit or by thread. The shaft adapter 428 may have a bottom region (e.g., a cylindrical region) that can be connected to the rotatable shaft 424. Above the bottom region, the shaft adapter 428 may have a top region (e.g., a cylindrical region) extending outward from the bottom region of the shaft adapter 428. The top region of the shaft adapter 428 has a width greater than the bottom region of the shaft adapter 428, such that the top region of the shaft adapter 428 can be connected to one or more magnets 430. Figure 4B As shown, the top surface of the top region of the shaft adapter 428 may include a threaded hole 434, allowing the one or more magnets 430 to be coupled to the top of the top region via a threaded member 436 through the threaded hole 434. One of the technical benefits of having one or more magnets 430 that can be coupled to the top of the rotary encoder 408 is that the one or more magnets 430 can facilitate easy or flexible height adjustment, allowing the top of the one or more magnets 430 to be magnetically coupled to the kingpin of the trailer unit. Therefore, the flexibility provided by the rotary encoder assembly design described in this document minimizes the need to design different rotary encoder assemblies for different kingpin designs or for different mounting surfaces under the fifth wheel.

[0051] The base surface 404, housing 402, housing cap 414 and / or shaft adapter 428 may be made of machined aluminum or other non-magnetic metals such that at least these parts do not interfere with the magnetic connection operation of the one or more magnets 430 with the kingpin of the trailer unit.

[0052] exist Figure 1In this system, the autonomous driving module 165 in the onboard control computer 150 can control the vehicle 105 using angle and / or orientation information provided by the rotary encoder assembly. For example, when the vehicle 105 is parked or reversed into a dock, the angle and / or orientation information provided by the rotary encoder assembly, along with video from one or more cameras located on the vehicle 105, allows the autonomous driving module 165 to display the position of the trailer unit on a screen in the vehicle 105, enabling the driver to have an accurate understanding of the vehicle 105 with the trailer unit and any objects around the vehicle 105 when it is parked. In some embodiments, the autonomous driving module 165 can control the steering and / or braking of the vehicle 105 based at least on the angle and / or orientation information provided by the rotary encoder assembly. For example, when vehicle 105 is autonomously parked in a dock or when vehicle 105 turns on a road, autonomous driving module 165 can use information provided by the rotary encoder assembly to determine the angle and / or orientation of the trailer unit, and autonomous driving module 165 can use video from one or more cameras on vehicle 105 to determine the position(s) of one or more objects (e.g., vehicles or pedestrians) to control the steering and / or braking of vehicle 105, such that the movement of the trailer unit is controlled by autonomous driving module 165.

[0053] In another example, when vehicle 105 is stopped at a traffic sign and about to turn, autonomous driving module 165 can use video provided by the one or more cameras and angular and / or orientation information from the rotary encoder assembly to determine if the trailer unit might collide with another vehicle positioned close to vehicle 105. In this example, autonomous driving module 165 can determine the trajectory of vehicle 105 to steer vehicle 105 in a manner that avoids a collision between the trailer unit and the vehicle, or autonomous driving module 165 can maintain applied brakes until the other vehicle has moved away, allowing autonomous driving module 165 to safely turn vehicle 105.

[0054] In yet another example, when the autonomous driving module 165 determines that the vehicle 105 is driving on a road and the trailer unit is not within the angular range of the towing unit's position (e.g., within ±2 degrees of 180 degrees of the towing unit's position, or within 179 and 181 degrees of the towing unit's position), the autonomous driving module 165 can apply corrective steering to move the trailer unit into that angular range of the towing unit's position. In this example, a gust of wind may have caused the trailer unit to move relative to the towing unit, such that if the trailer unit moves to the left (assuming the vehicle 105 is driving north), the autonomous driving module 165 can command the motor in the steering system to turn left to move the trailer unit backward, such that the angle formed by the trailer unit relative to the towing unit is within that angular range. In some embodiments, the angle range may be predetermined, or the angle range may be a function of vehicle speed (e.g., if the speed of vehicle 105 is greater than or equal to a threshold (e.g., 40 mph), the angle range is 180 degrees ± 2 degrees, and if the speed of vehicle 105 is greater than or equal to another threshold (e.g., 60 mph), the angle range is 180 degrees ± 1 degree).

[0055] In some embodiments, the autonomous driving module 165 may update the estimate of the center of gravity based on angle and / or orientation information provided by the rotary encoder assembly to establish a stable boundary around the vehicle 105. Knowing the centers of gravity of both the trailer unit and the tractor unit (also referred to as the bobtail), the angles relative to the trailer unit and the tractor unit can determine where the instantaneous center of gravity of the truck as a whole may be located. Unlike rigid vehicles (such as cars and buses), vehicles with multiple drivable segments (e.g., semi-trailer trucks) have a moving center of gravity because it may consist of at least two objects linked by a fifth wheel. In some embodiments, the autonomous driving module 165 may refer to a standard equation that provides an estimate of the center of gravity based on angles measured by the rotary encoder assembly.

[0056] The following sections describe the example features described in this document:

[0057] Feature 1: A truck comprising: a tractor unit including: a first connector; and an angle measuring device coupled to the first connector; and a trailer including: a second connector connected to the first connector; and at least one magnetic device coupled to the second connector, wherein the angle measuring device measures the movement of the at least one magnetic device, and wherein the angle between the tractor unit and the trailer is determined based on the measurement performed by the angle measuring device.

[0058] Feature 2: The truck according to Feature 1, wherein the first connector includes a fifth wheel and the second connector includes a kingpin.

[0059] Feature 3: The truck according to Feature 1, wherein the angle measuring device includes a rotary encoder.

[0060] Feature 4: The truck according to Feature 3, wherein the motion of the at least one magnetic device is converted to the shaft of the rotary encoder.

[0061] Feature 5: The truck according to Feature 1, wherein the angle measuring device measures the rotation of the second connector by measuring the at least one magnetic device.

[0062] Feature 6: The truck according to Feature 1, wherein the boundaries of the truck are depicted based on the angle between the tractor and the trailer.

[0063] Feature 7: The truck according to Feature 1, wherein the at least one magnetic device includes at least one magnet attached to the second connector, wherein the at least one magnet is detachable.

[0064] Feature 8: The truck according to Feature 7, wherein at least one sensor is attached to the second connector via the at least one magnet.

[0065] Feature 9: A tractor configured to tow a trailer of a truck, the tractor comprising: a first connector, a second connector connected to the trailer; and an angle measuring device coupled to the first connector, wherein the angle measuring device measures the movement of at least one magnetic device coupled to the second connector, wherein the angle between the tractor and the trailer is determined based on the measurement performed by the angle measuring device.

[0066] Feature 10: A trailer configured to be towed by a truck tractor, wherein the tractor includes a first connector and an angle measuring device coupled to the first connector, the trailer including: a second connector connected to the first connector; and at least one magnetic device coupled to the second connector, wherein the angle measuring device measures the movement of the at least one magnetic device, and wherein the angle between the tractor and the trailer is determined based on the measurement performed by the angle measuring device.

[0067] Feature 11: A system comprising: an Internet server including: I / O ports configured to transmit electrical signals to and receive electrical signals from a client device; a memory; one or more processing units; and one or more programs stored in the memory, the one or more programs being configured to cause the one or more processing units to perform at least the following: measuring the movement of at least one magnetic device by means of an angle measuring device coupled to a first connector of a tractor, wherein the at least one magnetic device is coupled to a second connector of a trailer, wherein the first connector is connected to the second connector; and determining an angle between the tractor and the trailer based on the measurement performed by the angle measuring device.

[0068] Feature 12: A method comprising: measuring the movement of at least one magnetic device by means of an angle measuring device coupled to a first connector of a tractor, wherein the at least one magnetic device is coupled to a second connector of a trailer, wherein the first connector is connected to the second connector; and determining an angle between the tractor and the trailer based on the measurement performed by the angle measuring device.

[0069] Feature 13: A non-transitory computer-readable medium storing a program that causes a computer to execute a process comprising: measuring the movement of at least one magnetic device by means of an angle measuring device coupled to a first connector of a tractor, wherein the at least one magnetic device is coupled to a second connector of a trailer, wherein the first connector is connected to the second connector; and determining an angle between the tractor and the trailer based on the measurement performed by the angle measuring device.

[0070] In this document, the term "exemplary" is used to mean "an example of..." and does not imply an ideal or preferred embodiment unless otherwise stated. While this document describes techniques for measuring the angle and / or orientation (e.g., direction of rotation) of the rear drivable section relative to the front drivable section in the context of a semi-trailer truck, rotary encoder assemblies can be mounted on or within other types of multiple drivable sections (e.g., on or in a trailer on a truck or a vehicle with a fifth-wheel camper).

[0071] Some embodiments described herein are described in the general context of a method or process that may be implemented in one embodiment by a computer program product embodied in a computer-readable medium, the computer program product including computer-executable instructions (such as program code) that are executed by a computer in a networked environment. The computer-readable medium may include removable and non-removable storage devices, including but not limited to read-only memory (ROM), random access memory (RAM), optical disc (CD), digital versatile optical disc (DVD), etc. Therefore, the computer-readable medium may include non-transitory storage media. Typically, program modules may include routines, programs, objects, components, data structures, etc., that perform a particular task or implement a particular abstract data type. Computer or processor-executable instructions, associated data structures, and program modules represent examples of program code for performing steps of the methods disclosed herein. A particular sequence of such executable instructions or associated data structures represents examples of corresponding actions for implementing the functionality described in such steps or processes.

[0072] Some of the disclosed embodiments may be implemented as devices or modules using hardware circuitry, software, or a combination thereof. For example, hardware circuitry implementations may include discrete analog and / or digital components integrated, for example, as part of a printed circuit board. Alternatively or additionally, the disclosed components or modules may be implemented as application-specific integrated circuits (ASICs) and / or as field-programmable gate arrays (FPGAs). Some implementations may additionally or alternatively include a digital signal processor (DSP), which is a special-purpose microprocessor with an architecture optimized for the operational requirements of digital signal processing associated with the disclosed functions of this application. Similarly, various components or sub-components within each module may be implemented in software, hardware, or firmware. Any connection method and medium known in the art may be used to provide connectivity between modules and / or between components within a module, including but not limited to communication using appropriate protocols via the Internet, wired, or wireless networks.

[0073] Although this document contains numerous details, these details should not be construed as limiting the scope of the claimed invention or the claimable content, but rather as descriptions of features specific to particular embodiments. Certain features described herein in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments. Furthermore, while features may be described above as functioning in certain combinations and even initially claimed in this manner, in some cases, one or more features from the claimed combination may be removed from that combination, and the claimed combination may involve sub-combinations or variations thereof. Similarly, although operations are depicted in a specific order in the drawings, this should not be construed as requiring such operations to be performed in the specific order shown or in a sequential order, or to perform all illustrated operations to achieve the desired result.

[0074] Only a few implementations and examples have been described, and other implementations, enhancements and variations may be made based on the content described and illustrated in this disclosure.

Claims

1. A vehicle comprising: The front-driveable section includes: A first connector is attached to the chassis of the front drivable section, wherein the first connector is positioned toward the rear region of the first drivable section; and Rotary encoder assembly, including: The base surface is connected to the surface located below the first connector; The housing includes a first end that is at least partially open and a second end opposite to the first end. The second end of the housing is connected to the base surface, and the first end of the housing is coupled to the housing cap; and A rotary encoder is located within the housing between the base surface and the housing cap. The rotary encoder includes a rotatable shaft protruding from a first hole located in the housing cap, and The top of the rotatable shaft, located away from the rotary encoder, is coupled to one or more magnets; The rotary encoder is connected to the housing cap via a plurality of non-rigid compressible couplings, each including multiple shoulder threaded members, and At least some portion of each of the plurality of shoulder threaded parts is located in one of a plurality of springs, the plurality of springs having a first end located below the housing cap and a second end located above the rotary encoder opposite the first end.

2. The vehicle according to claim 1, The housing cap includes a first set of holes along a first perimeter of a first imaginary circle remote from the edge of the housing cap. Each of the holes in the first set includes a low-friction washer ring, through which a shoulder threaded member is connected to the rotary encoder via a spring. Each shoulder threaded component includes a threaded head at one end, a threaded surface at the other opposite end, and a smooth shaft between the threaded head and the threaded surface. The threaded head of each shoulder thread is located at or above the housing cap, the smooth shaft of each shoulder thread is located in a spring, and the threaded surface of each shoulder thread is located in the body of the rotary encoder.

3. The vehicle according to claim 2, The housing cap includes a second set of holes along a second perimeter of a second imaginary circle, the second perimeter being closer to the edge of the housing cap than the first perimeter of the first imaginary circle including the first set of holes. The second set of holes includes a threaded component that connects the housing cap to a flange located at the first end of the housing.

4. The vehicle of claim 1, wherein the central region of the first connector includes a third hole, and wherein the top region of the rotary encoder assembly is accessible via the third hole in the first connector.

5. The vehicle of claim 4, wherein the plurality of shoulder threads and the plurality of springs are structured to retract the rotary encoder in a first position away from the housing cap in response to the absence of metallic material at the third hole in the first connector.

6. The vehicle of claim 4, wherein the plurality of shoulder threads and the plurality of springs are structured to extend the rotary encoder in a second position toward the housing cap in response to the presence of magnetic material at the third hole in the first connector.

7. The vehicle of claim 4, wherein the first connector includes a recess positioned toward the rear of the front drivable section, and wherein the central region of the first connector includes the third hole, the recess terminating in the central region.

8. The vehicle according to claim 4, further comprising: The rear driveable section is located behind the front driveable section. The rear-driveable section includes a second connector coupled to the first connector, and The second connector is magnetically connected via the third hole in the first connector to one or more magnets located on top of the rotatable shaft of the rotary encoder assembly.

9. The vehicle according to claim 8, The rotatable shaft of the rotary encoder is structured as a rotational motion having a circular motion corresponding to the second connector of the rear drivable section, and The circular motion of the second connector in the rear drivable section is converted into the rotational motion of the rotatable shaft via the one or more magnets.

10. The vehicle of claim 8, wherein the first connector includes a fifth wheel, and wherein the second connector includes a kingpin.

11. The vehicle of claim 8, wherein the vehicle comprises a semi-trailer truck, wherein the front drivable section comprises a tractor unit, and wherein the rear drivable section comprises a trailer unit.

12. The vehicle of claim 8, wherein the front drivable section includes a computer, the computer including one or more processors and a memory configured to store one or more programs, wherein the one or more programs, when executed, configure the one or more processors to: When the vehicle is operating on the road, it receives information from the rotary encoder indicating the angle or direction of rotation of the rear drivable section relative to the front drivable section. This causes the vehicle to perform autonomous driving operations based on the angle or rotation direction of the rear drivable section.

13. The vehicle of claim 12, wherein the one or more processors are configured to cause the vehicle to... The autonomous driving operation is performed by being configured as follows: When the vehicle operates on the road at a speed greater than or equal to a threshold, it is determined that the angle of the rear drivable segment is outside the permissible angle range for the rear drivable segment; and Commands are sent to the motors in the vehicle's steering system to cause the vehicle to turn within the permissible angle range for the rear drivable section, thereby moving the trailer unit.

14. The vehicle of claim 12, wherein the one or more processors are further configured to: The front drivable section and the rear drivable section are displayed on a monitor located in the vehicle, wherein the orientation of the rear drivable section relative to the front drivable section is displayed based on the angle received from the rotary encoder.

15. The vehicle according to claim 1, The rotary encoder is connected to a movable cable, and The base surface includes a second hole located in a region, such that at least a portion of the movable cable enters the housing via the second hole, the housing being connected to the base surface in the region.

16. A rotary encoder assembly, comprising: The base surface includes a plurality of holes located near the edge of the base surface; The housing includes a first end that is at least partially open and a second end opposite to the first end, wherein the second end of the housing is connected to the base surface, and The first end of the housing is connected to the housing cap; and A rotary encoder is located within the housing between the base surface and the housing cap. The rotary encoder includes a rotatable shaft protruding from a first hole located in the housing cap, and the top of the rotatable shaft, positioned away from the rotary encoder, is coupled to one or more magnets; The rotary encoder is connected to the housing cap via a plurality of non-rigid compressible couplings, each including multiple shoulder threaded members, and At least some portion of each of the plurality of shoulder threaded parts is located in one of a plurality of springs, the plurality of springs having a first end located below the housing cap and a second end located above the rotary encoder opposite the first end.

17. The rotary encoder assembly of claim 16, wherein the top of the rotatable shaft is coupled to the one or more magnets via a shaft adapter, the shaft adapter being coupled to the rotatable shaft.

18. The rotary encoder assembly according to claim 16, The base surface includes a second hole located within a region, allowing the rotary encoder to be connected to a movable cable via the second hole. The housing is connected to the base surface in the region. The second hole in the base surface includes a low-friction pad ring through which the movable cable can be connected to the rotary encoder.

19. The rotary encoder assembly according to claim 16, The first hole in the housing cap includes a low-friction washer ring, through which at least a portion of the rotatable shaft protrudes from the first hole in the housing cap.

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