Angle and orientation measurement for vehicles with multiple drivable parts

Abstract

To provide measurement of an angle and a direction of a vehicle having plural operable parts.SOLUTION: A technique for measuring an angle and / or a direction of a rear operable part (for example, a trailer unit of a semi-trailer truck) relative to a front operable part (for example, a tractor unit of a semi-trailer truck) is explained by an exemplary rotary encoder assembly. The exemplary rotary encoder assembly includes: a housing including a base part surface, a second end connected with the base part surface, and a first end that is open at least partially and is coupled with a housing cap; and a rotary encoder positioned between the base part surface and the housing cap within a housing. The rotary encoder includes a rotatable shaft projecting from a first hole positioned within the housing cap, and the top of the rotatable shaft positioned away from the rotary encoder is coupled with a magnet.SELECTED DRAWING: None

Description

Technical Field

[0001] (Priority Claim and Related Patent Applications) This patent document claims priority and the benefit thereof to U.S. Provisional Patent Application No. 63 / 040,662, filed on June 18, 2020, and titled "TRAILER ANGLE MEASUREMENT USING A ROTARY ENCODER TO THE FIFTH WHEEL". The entire disclosure of the foregoing application is incorporated herein by reference as part of the disclosure of this application.

[0002] (Technical Field) This document relates to systems, devices, and methods for measuring the angle and / or orientation of a vehicle having a plurality of drivable parts.

Background Art

[0003] Autonomous vehicle navigation is a technology that enables a vehicle to sense the position and movement of vehicles around the autonomous vehicle and, based on the sensing, control the autonomous vehicle to safely navigate towards a destination. An autonomous vehicle can control the steering angle, the amount of throttle to control the speed of the autonomous vehicle, gear changes, and / or the amount of brake to control the degree to which the brake is engaged. An autonomous vehicle can operate in several modes. In some cases, an autonomous vehicle can enable a driver to operate the autonomous vehicle as a conventional vehicle by controlling the steering, throttle, clutch, gear shifter, and / or other devices. In other cases, a driver can utilize autonomous vehicle navigation technology to enable the vehicle to be driven by itself.

Summary of the Invention

Means for Solving the Problems

[0004] This patent document describes a system, apparatus, and method for measuring the angle and / or orientation (e.g., direction of rotation) of the rear drivable part of a vehicle relative to the front drivable part of the vehicle.

[0005] In one exemplary embodiment, the vehicle comprises a forward drivable portion, the forward drivable portion comprising a first connector and a rotary encoder assembly. The first connector is coupled to the chassis of the forward drivable portion and is positioned toward the rear region of the first drivable portion. The rotary encoder assembly comprises 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, the second end of the housing coupled to the base surface and the first end of the housing 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, the rotary encoder including a rotatable shaft protruding from a first hole located within the housing cap, the top of the rotatable shaft located away from the rotary encoder coupled to one or more magnets.

[0006] In some embodiments, the rotary encoder is coupled to a housing cap via a plurality of non-rigid compressible couplings including a plurality of shoulders, where at least a portion of each of the plurality of shoulder screws is located in one of a plurality of springs, each of which has a first end located below the housing cap and a second end opposite the first end, the second end located above the rotary encoder. In some embodiments, the housing cap includes a set of first holes along the first circumference of a first virtual circle, the first virtual circle being away from the edge of the housing cap, each hole in the set of first holes includes a low-friction grommet, through which shoulder screws are coupled to the rotary encoder via springs, each shoulder screw includes a screw head at one end and a threaded surface at the other opposite end, with a smooth shaft between the screw head and the threaded surface, the screw head of each shoulder screw is located in or on 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.

[0007] In some embodiments, the housing cap includes a second set of holes along the second circumference of a second virtual circle, the second virtual circle being closer to the edge of the housing cap than the first circumference of the first virtual circle containing the first set of holes, and the second set of holes includes screws that connect the housing cap to a flange located at the first end of the housing. In some embodiments, the central region of the first connector includes a third hole, and the top region of the rotary encoder assembly is accessible through the third hole in the first connector. In some embodiments, a plurality of shoulder screws and a plurality of springs are configured to retract the rotary encoder to a first position away from the housing cap in response to the absence of metallic material in the third hole in the first connector. In some embodiments, a plurality of shoulder screws and a plurality of springs are configured to extend the rotary encoder to a second position toward the housing cap in response to the presence of metallic material in the third hole in the first connector. In some embodiments, the first connector includes a groove positioned toward the rear of the front drivable portion, and the central region of the first connector where the groove terminates includes a third hole.

[0008] In some embodiments, the vehicle further comprises a rear drivable portion located behind a front drivable portion, the rear drivable portion comprising a second connector coupled to a first connector, the second connector being magnetically coupled to one or more magnets located at the top of the rotatable shaft of a rotary encoder assembly via a third hole in the first connector. In some embodiments, the rotatable shaft of the rotary encoder is configured to have rotational movement corresponding to the circular movement of the second connector of the rear drivable portion, the circular movement of the second connector of the rear drivable portion being converted to rotational movement of the rotatable shaft via one or more magnets. In some embodiments, the first connector comprises a fifth wheel, and the second connector comprises a kingpin. In some embodiments, the vehicle comprises a semi-trailer truck, the front drivable portion comprises a tractor unit, and the rear drivable portion comprises a trailer unit.

[0009] In some embodiments, the front drivable portion includes a computer comprising one or more processors and memory configured to store one or more programs, the one or more programs configured such that, at runtime, one or more processors perform: receiving information from a rotary encoder indicating the angle or direction of rotation of the rear drivable portion relative to the front drivable portion when the vehicle is operating on a road; and causing the vehicle to perform autonomous driving operations based on the angle or direction of rotation of the rear drivable portion. In some embodiments, one or more processors are configured to cause the vehicle to perform autonomous driving operations by: determining that the angle of the rear drivable portion is outside the allowable angular range for the rear drivable portion when the vehicle is operating on a road at a speed above a threshold; and transmitting commands to motors in the vehicle's steering system to cause the vehicle to steer to move the trailer unit within the allowable angular range for the rear drivable portion. In some embodiments, one or more processors are further configured to display the front and rear drivable portions on a monitor located inside the vehicle, with the orientation of the rear drivable portion relative to the front drivable portion being displayed based on an angle received from a rotary encoder.

[0010] In some embodiments, the rotary encoder is connected to a movable cable, and the base surface includes a second hole located within the region to which the housing is connected to the base surface, thereby allowing at least a portion of the movable cable to enter the housing through the second hole.

[0011] In an exemplary embodiment, the rotary encoder assembly comprises a base surface, a housing, and a rotary encoder. The base surface of the rotary encoder assembly includes a plurality of holes located near the 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 the first end, the second end of the housing being connected to the base surface and the first end of the housing being 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, the rotary encoder including a rotatable shaft protruding from a first hole located within the housing cap, the top of the rotatable shaft located away from the rotary encoder being coupled to one or more magnets.

[0012] In some embodiments, the top of the rotatable shaft is coupled to one or more magnets via a shaft adapter coupled to the rotatable shaft. In some embodiments, the base surface includes a second hole located within the area to which the housing is connected to the base surface, thereby allowing the rotary encoder to be connected to a movable cable through the second hole, the second hole in the base surface includes a low-friction grommet, 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 located within the housing cap includes a low-friction grommet, through which at least a portion of the rotatable shaft protrudes from the first hole in the housing cap.

[0013] In yet another exemplary aspect, the methods described above and those described in this patent document are embodied as computer-readable programs stored on a non-transient computer-readable medium. The computer-readable program includes code, which, when executed by a processor, causes the processor to perform the methods described in this patent document.

[0014] In yet another exemplary embodiment, a device is disclosed that is configured or operable to carry out the methods described above and / or the methods described in this Patent Document.

[0015] The upper and other aspects, as well as their implementations, are described in more detail in the drawings, descriptions, and claims. The present invention provides, for example, the following: (Item 1) A vehicle, and the said vehicle is It has a front drivable portion, and the front drivable portion is A first connector connected to the chassis of the front drivable portion, the first connector being located toward the rear region of the first drivable portion, Rotary encoder assembly and Equipped with, The rotary encoder assembly is A base surface bonded to a surface located below the first connector, A housing comprising 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 connected to the base surface and the first end of the housing is connected to a housing cap, A rotary encoder located within the housing between the base surface and the housing cap. Equipped with, The rotary encoder includes a rotatable shaft protruding from a first hole located within the housing cap. A vehicle in which the top of the rotatable shaft, located away from the rotary encoder, is coupled to one or more magnets. (Item 2) The rotary encoder is coupled to the housing cap via a plurality of non-rigid compressible couplings, which include a plurality of shoulder screws. The vehicle according to the above item, wherein at least a portion of each of the plurality of shoulder screws 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 opposite the first end, the second end of the plurality of springs being located above the rotary encoder. (Item 3) The housing cap includes a set of first holes along the first periphery of a first virtual circle, the first virtual circle being away from the edge of the housing cap, Each hole in the first set of holes includes a low-friction grommet, through which a shoulder screw is coupled to the rotary encoder via a spring. Each shoulder screw includes a screw head at one end and a threaded surface at the other opposite end, with a smooth shaft between the screw head and the threaded surface. The vehicle according to any of the above items, wherein the screw head of each shoulder screw is located in 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. (Item 4) The housing cap includes a second set of holes along the second periphery of the second virtual circle, the second virtual circle being closer to the edge of the housing cap than the first periphery of the first virtual circle including the first set of holes, The vehicle according to any of the above items, wherein the second set of holes includes screws that couple the housing cap to a flange located at the first end of the housing. (Item 5) The vehicle according to any of the above items, wherein a central region of the first connector includes a third hole, and a top region of the rotary encoder assembly is accessible through the third hole in the first connector. (Item 6) The vehicle according to any of the above items, wherein the plurality of shoulder screws and the plurality of springs are configured to retract the rotary encoder to a first position away from the housing cap in response to the absence of a metallic material in the third hole within the first connector. (Item 7) The vehicle according to any of the above items, wherein the plurality of shoulder screws and the plurality of springs are configured to extend the rotary encoder to a second position toward the housing cap in response to the presence of a metallic material in the third hole within the first connector. (Item 8) The vehicle according to any of the above items, wherein the first connector includes a groove located toward the rear of the forward drivable portion, and a central region of the first connector at which the groove terminates includes the third hole. (Item 9) The vehicle further includes a rear drivable portion located behind the forward drivable portion, The rear drivable portion includes a second connector coupled to the first connector, The vehicle according to any of the above items, wherein the second connector is magnetically coupled to the one or more magnets located at the top of the rotatable shaft of the rotary encoder assembly through the third hole in the first connector. (Item 10) The rotatable shaft of the rotary encoder is configured to have a rotational movement corresponding to a circular movement of the second connector of the rear drivable portion, The circular movement of the second connector of the rear drivable part is converted into the rotational movement of the rotatable shaft via the one or more magnets, for the vehicle according to any of the above items. (Item 11) The first connector includes a fifth wheel, and the second connector includes a kingpin, for the vehicle according to any of the above items. (Item 12) The vehicle includes a semi-trailer truck, the front drivable part includes a tractor unit, and the rear drivable part includes a trailer unit, for the vehicle according to any of the above items. (Item 13) The front drivable part includes a computer, the computer includes one or more processors and a memory configured to store one or more programs, and the one or more programs, when executed, receive information indicating an angle or a direction of rotation of the rear drivable part with respect to the front drivable part from the rotary encoder when the vehicle is operating on a road, and cause the vehicle to perform an autonomous driving operation based on the angle or the direction of rotation of the rear drivable part, for the vehicle according to any of the above items, configured such that the one or more processors perform the above. (Item 14) The one or more processors determine that the angle of the rear drivable part is outside an allowable angle range for the rear drivable part when the vehicle is operating on the road at a speed above a threshold, and send an instruction to a motor in a steering system of the vehicle to steer the vehicle to move the trailer unit within the allowable angle range for the rear drivable part, thereby configured to cause the vehicle to perform the autonomous driving operation, for the vehicle according to any of the above items, configured such that the vehicle performs the above. (Item 15) The vehicle according to any of the above items, wherein one or more processors are further configured to display the front drivable portion and the rear drivable portion on a monitor located inside the vehicle, and the orientation of the rear drivable portion relative to the front drivable portion is displayed based on the angle received from the rotary encoder. (Item 16) The rotary encoder is connected to a movable cable, The vehicle according to any of the above items, wherein the base surface includes a second hole located within the region to which the housing is connected to the base surface, thereby allowing at least a portion of the movable cable to enter the housing through the second hole. (Item 17) A rotary encoder assembly, wherein the rotary encoder assembly is A base surface having multiple holes, wherein the multiple holes are located near the edge of the base surface, A housing comprising 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 connected to the base surface and the first end of the housing is connected to a housing cap, and A rotary encoder located within the housing between the base surface and the housing cap. Equipped with, The rotary encoder includes a rotatable shaft protruding from a first hole located within the housing cap. A rotary encoder assembly in which the top of the rotatable shaft, located away from the rotary encoder, is coupled to one or more magnets. (Item 18) The rotary encoder assembly according to any of the above items, wherein the top of the rotatable shaft is coupled to one or more magnets via a shaft adapter coupled to the rotatable shaft. (Item 19) The base surface includes a second hole located within the region to which the housing is connected to the base surface, thereby allowing the rotary encoder to be connected to a movable cable through the second hole. The rotary encoder assembly according to any of the above items, wherein the second hole in the base surface includes a low-friction grommet, and the movable cable is connectable to the rotary encoder through the low-friction grommet. (Item 20) The rotary encoder assembly according to any of the above items, wherein the first hole located within the housing cap includes a low-friction grommet, and at least a portion of the rotatable shaft protrudes from the first hole within the housing cap through the low-friction grommet. (Summary) A technique is described for measuring the angle and / or orientation of a rearward drivable part (e.g., the trailer unit of a semi-trailer truck) relative to a frontward drivable part (e.g., the tractor unit of a semi-trailer truck) using an exemplary rotary encoder assembly. The exemplary rotary encoder assembly comprises a base surface and 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 within the housing between the base surface and the housing cap, the rotary encoder including a rotatable shaft protruding from a first hole located within the housing cap, the top of the rotatable shaft located away from the rotary encoder being coupled to a magnet. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 shows a block diagram of an exemplary ecosystem in which the angle and / or orientation of the rear drivable portion of the vehicle can be measured relative to the front drivable portion of the vehicle.

[0017] [Figure 2]Figure 2 shows a rear view of a semi-trailer truck with a fifth wheel.

[0018] [Figure 3A] Figure 3A shows an isometric view of the fifth wheel with the rotary encoder assembly, and Figure 3B shows a top view of the fifth wheel with the rotary encoder assembly. [Figure 3B] Figure 3A shows an isometric view of the fifth wheel with the rotary encoder assembly, and Figure 3B shows a top view of the fifth wheel with the rotary encoder assembly.

[0019] [Figure 3C] Figure 3C shows a lateral cross-sectional view of the trailer unit and the fifth wheel along the direction in which the trailer unit is moving to engage with the fifth wheel.

[0020] [Figure 3D] Figure 3D shows a lateral cross-sectional view of the trailer unit and the fifth wheel, with the trailer unit engaged with the fifth wheel.

[0021] [Figure 3E] Figure 3E is a magnified view of the rotary encoder assembly with the rotary encoder in a retracted position, and Figure 3F is a magnified view of the rotary encoder assembly with the rotary encoder in an extended position. [Figure 3F] Figure 3E is a magnified view of the rotary encoder assembly with the rotary encoder in a retracted position, and Figure 3F is a magnified view of the rotary encoder assembly with the rotary encoder in an extended position.

[0022] [Figure 4A] Figure 4A shows an isometric view of the rotary encoder assembly, and Figure 4B shows a cross-sectional view of the rotary encoder assembly. [Figure 4B]Figure 4A shows an isometric view of the rotary encoder assembly, and Figure 4B shows a cross-sectional view of the rotary encoder assembly.

[0023] [Figure 4C] Figure 4C shows an exemplary shoulder screw. [Modes for carrying out the invention]

[0024] The development of autonomous driving technology has led to the development of passenger cars that can autonomously drive themselves and transport passengers to their destinations. However, when autonomous driving technology is adopted in vehicles with multiple drivable parts (e.g., semi-trailer trucks), certain unique challenges need to be addressed. For example, a semi-trailer truck may have multiple drivable parts, such as a tractor unit where the driver may sit moving separately from a trailer unit where goods may be located, and the trailer unit being connected to the tractor unit. Unlike semi-trailer trucks, passenger cars tend to have at least a single rigid body, so they can be operated more easily on the road. This patent document describes a technology that enables multiple drivable parts (e.g., a semi-trailer truck having a tractor unit and a trailer unit, a truck, or a vehicle having a fifth-wheeled camper) to measure the angle and / or orientation of a rear drivable part (e.g., a trailer unit, or a vehicle having a fifth-wheeled camper) relative to a front drivable part (e.g., a tractor unit, a truck, or a vehicle), thereby enabling the vehicle to be driven autonomously by taking into account, for example, the angle and / or orientation of the rear drivable part relative to the front drivable part.

[0025] As shown below, in Section I, this patent document describes a device located on or within a vehicle that can use angular and / or orientation measurements for autonomous driving operations. Section II of this patent document describes a technology for enabling the measurement of the angular and / or orientation of the rear drivable part of a vehicle relative to the front drivable part of the vehicle. The exemplary headings for the various sections below are used to facilitate understanding of the disclosed subject matter and do not in any way limit the scope of the claimed subject matter. Thus, one or more features of one exemplary section may be combined with one or more features of another exemplary section.

[0026] I. Exemplary Autonomous Vehicle Technologies Using Angle and / or Orientation Measurements

[0027] Figure 1 shows a block diagram of an exemplary vehicle ecosystem 100 in which autonomous driving operations may be implemented in an on-board control computer 150. The vehicle ecosystem 100 includes several systems and components that generate one or more sources of information / data and associated services and / or deliver them to an on-board control computer 150 which may be located within a vehicle 105. Examples of vehicles 105 include cars, trucks, or semi-trailer trucks. The on-board control computer 150 may communicate data with a plurality of vehicle subsystems 140, all of which may reside within 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 on-board control computer 150 and the plurality of vehicle subsystems 140.

[0028] Vehicle 105 may include various vehicle subsystems that support the operation of vehicle 105. The vehicle subsystems may include a vehicle driving subsystem 142, a vehicle sensor subsystem 144, and / or a vehicle control subsystem 146. The vehicle driving subsystem 142 may include components that can operate to provide power motion for vehicle 105. In exemplary embodiments, the vehicle driving subsystem 142 may include an engine or motor, wheels / tires, a transmission, an electrical subsystem, and a power source.

[0029] The vehicle sensor subsystem 144 may include a number of sensors configured to sense information about the environment or state of the vehicle 105. For example, the vehicle sensor subsystem 144 may include a rotary encoder assembly, an inertial measuring unit (IMU), a Global Positioning System (GPS) transceiver, a RADAR unit, a laser rangefinder / LIDAR unit, and / or one or more cameras or image acquisition devices. As further described in Section II of this Patent Document, the rotary encoder assembly is designed or configured to provide one or more measurements of the angle and / or orientation of the rear drivable part (e.g., tractor unit) relative to the front drivable part (e.g., trailer unit). In some embodiments, the rotary encoder assembly may be an absolute encoder capable of providing the angle and / or orientation of the rear drivable part relative to the front drivable part. The vehicle sensor system 144 may also include sensors configured to monitor the internal systems of the vehicle 105 (e.g., O2 monitor, fuel gauge, engine oil temperature).

[0030] The IMU may include any combination of sensors (e.g., accelerometers and gyroscopes) configured to sense changes in the position and orientation of the vehicle 105 based on inertial acceleration. The GPS transceiver may be any sensor configured to estimate the geographical location of the vehicle 105. For this purpose, the GPS transceiver may include a receiver / transmitter capable of operating to provide information regarding the position of the vehicle 105 on Earth. The RADAR unit may represent a system that utilizes high-frequency signals to sense objects in the local environment of the vehicle 105. In some embodiments, in addition to sensing objects, the RADAR unit may be further configured to sense the speed and direction of travel of objects approaching the vehicle 105. The laser rangefinder or LIDAR unit may be any sensor configured to sense objects in the environment in which the vehicle 105 is located using lasers. The camera may include one or more devices configured to capture multiple images of the environment of the vehicle 105. The camera may further be an image camera or a video camera.

[0031] The vehicle control system 146 may 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 a throttle, brake unit, navigation unit, and / or steering system.

[0032] The throttle may be configured, for example, to control the operating speed of the engine and, consequently, the speed of the vehicle 105. The braking unit may include any combination of mechanisms configured to decelerate the vehicle 105. The braking unit may use friction to slow the vehicle down in a standard manner. The navigation unit may be any system configured to determine a driving path or route for the vehicle 105. The navigation unit may be further configured to dynamically update the driving path while the vehicle 105 is operating. In some embodiments, the navigation unit may be configured to incorporate data from a GPS transceiver and one or more predetermined maps to determine a driving path for the vehicle 105. The steering system may represent any combination of mechanisms that may be operable to adjust the direction of travel of the vehicle 105 in autonomous mode or driver-controlled mode.

[0033] Many or all of the functions of the vehicle 105 may be controlled by the onboard control computer 150. The 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-transient computer-readable medium such as memory 175. The onboard control computer 150 may also represent a plurality of computing devices that can act in a distributed manner to control individual components or subsystems of the vehicle 105. In some embodiments, the data storage device 175 may include processing instructions (e.g., program logic) that can be executed by the data processor 170 for performing various methods and / or functions of the vehicle 105, including those described in this document. For example, as further described in Section II of this Patent Document, the data processor 170 uses information provided by the rotary encoder assembly (e.g., the angle and / or orientation of the rear drivable portion relative to the front drivable portion of the vehicle 105) to operate various vehicle subsystems of the vehicle 105 (e.g., the vehicle driving subsystem 142, the vehicle sensor subsystem 144, and the vehicle control subsystem 146) and performs operations associated with the autonomous driving module 165 to operate the vehicle 105 autonomously. The data storage device 175 may also include additional instructions, including instructions for transmitting data to one or more of the vehicle driving subsystem 142, the vehicle sensor subsystem 144, and the vehicle control subsystem 146, receiving data from them, interacting with them, or controlling them. The in-vehicle control computer 150 may be configured to include the data processor 170 and the data storage device 175.

[0034] The on-board control computer 150 can control the functions of the vehicle 105 based on inputs received from various vehicle subsystems (e.g., the vehicle driving subsystem 142, the vehicle sensor subsystem 144, and the vehicle control subsystem 146). For example, the on-board control computer 150 may use data from a rotary encoder assembly to control the steering system for turning the vehicle 105 by taking into account the orientation and angle of the rear drivable part relative to the front drivable part. In one exemplary embodiment, the on-board control computer 150 may be operable to provide control over many aspects of the vehicle 105 and its subsystems.

[0035] II. Exemplary Rotary Encoder Assembly for Performing Angle and / or Orientation Measurements

[0036] Figure 2 shows a rear view of a semi-trailer truck having a fifth wheel. The semi-trailer truck includes a tractor unit 202, which includes a fifth wheel 204 positioned toward the rear region 212 of the tractor unit 202. The fifth wheel 204 is movably coupled to the chassis 210 of the semi-trailer truck so that the fifth wheel 204 can be moved toward or away from the cab 206 of the tractor unit 202 for the installation of different types of trailer units. The fifth wheel 204 may have an "A" shaped notch region or an inverted V shaped notch region, or a groove, which may be located on the fifth wheel 204 toward the rear of the tractor unit 202 or away from the cab 206 in the tractor unit 202 where the driver may sit. The groove extends inward from the edge of the fifth wheel 204 furthest from the cab 206. The groove terminates at the central region 208 of the fifth wheel 204. The groove in the fifth wheel allows the trailer unit's kingpin to slide inward, locking the trailer unit and the fifth wheel together in a fixed position, thereby coupling the trailer unit to the tractor unit via the kingpin and the fifth wheel. The fifth wheel may be covered with grease, thereby allowing the trailer unit to slide along the upper surface of the fifth wheel. The central region 208 of the groove is a hole through which a rotary encoder can engage with the trailer unit's kingpin, as will be further described below. In certain conventional implementations, the fifth wheel may not include position sensing equipment, and therefore there may be no sensing or measurement of the trailer unit's angle at the fifth wheel.

[0037] Figure 3A shows an isometric view of the fifth wheel 302 with the rotary encoder assembly 304 located in or below the hole 306 in the fifth wheel 302, and Figure 3B shows a top view of the fifth wheel 302 with the rotary encoder assembly 304 located in or below the hole 306 in the fifth wheel 302. Figure 3C shows a lateral section view of the trailer unit 308 and the fifth wheel 302 along the direction in which the trailer unit 308 is moving to engage with the fifth wheel 302. The trailer unit 308 includes a kingpin 310 that slides within a groove in the fifth wheel 302 so that the trailer engages with the fifth wheel 302 in a right-to-left direction in Figure 3C. Below the fifth wheel 302 is a mounting surface 316, which can be connected to the fifth wheel 302 so that the mounting surface 316 and the fifth wheel 302 can move toward or away from the cab in the tractor unit for the installation of different types of trailer units. The bottom of the rotary encoder 304 may be coupled to the mounting surface 316 beneath the fifth wheel 302. The rotary encoder 304 is coupled to the mounting surface 316 beneath the fifth wheel 302 where at least a portion of the rotary encoder assembly 304 overlaps with or is beneath the hole 306 in the fifth wheel 302 shown in Figures 3A and 3B. In some embodiments, the rotary encoder assembly 304 is coupled to the mounting surface 316 beneath the fifth wheel 302 where the rotary encoder assembly 304 is directly beneath the central region of the fifth wheel 302, thereby making at least the top region of the rotary encoder assembly 304 accessible through the hole 306.

[0038] One of the technical advantages of coupling the rotary encoder assembly 304 to the mounting surface 316 beneath the fifth wheel 302 is that the rotary encoder assembly 304 can be installed on a single tractor unit rather than being installed on multiple trailer units. Furthermore, the rotary encoder assembly 304 can be installed on the tractor unit without a driver. Another technical advantage of the rotary encoder assembly being located on or within the tractor unit is that the rotary encoder assembly 304 can be communicatively coupled (e.g., via cable 314 shown in Figures 3D-3F) to an on-board control computer (shown as 150 in Figure 1), which may also be located within the tractor unit, and the on-board control computer can provide information regarding the angle and / or orientation of the trailer unit.

[0039] Figure 3D shows a lateral cross-sectional view of the trailer unit 308 and the fifth wheel 302 with the trailer unit 308 engaged with the fifth wheel 302. As further explained in Figures 4A-4B, the top region of the rotary encoder assembly 304 includes one or more magnets, thereby, when the metal kingpin 310 of the trailer unit 308 (e.g., a steel kingpin) is in the magnetic field of one or more magnets located at 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 the kingpin 310 and magnetically couples (or magnetically attaches) to it. Figure 3E is a magnified view of the rotary encoder assembly 304 with the rotary encoder 312, when the kingpin 310 has moved to engage with the fifth wheel 302 and is not close to the rotary encoder assembly 304, or when the kingpin 310 is in a retracted position when it is not in the hole 306 in the fifth wheel 302. In Figure 3E, the arrow pointing to the left indicates the movement of the kingpin 310 and the trailer unit 308. When the kingpin 310 is not within the magnetic field of one or more magnets located at the top of the rotary encoder assembly 304, the rotary encoder 312 and cable 314 within the rotary encoder assembly 304 are in a retracted position. When the rotary encoder 312 is in a retracted position, there is some gap between the top of one or more magnets located at the top of the rotary encoder assembly 304 and the bottom of the kingpin, which is slid to a position for engaging the fifth wheel.

[0040] Figure 3F is an enlarged view of a rotary encoder assembly 304 having a rotary encoder 312 in an extended position when the kingpin 310 is near the rotary encoder assembly 304 and engaged with the fifth wheel, or when at least a portion of the kingpin 310 is positioned above the hole 306 in the fifth wheel 302. In Figure 3F, the upward-pointing arrow indicates the movement of the rotary encoder 312 and cable 314 within the rotary encoder assembly 304 when one or more magnets on the top of the rotary encoder assembly 304 are magnetically coupled to the kingpin 310 and the rotary encoder 312 is in an extended position. When the kingpin 310 disengages from the fifth wheel and moves away from the rotary encoder assembly 304, the kingpin slides away from one or more magnets on the top of the rotary encoder assembly 304, causing the rotary encoder 312 to move downward to a retracted position.

[0041] Figure 4A shows an isometric view of the rotary encoder assembly 400, and Figure 4B shows a cross-sectional view of the rotary encoder assembly 400. The rotary encoder assembly 400 may include a housing 402, which may have 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 outward from the periphery of the top region of the housing 402. In some embodiments, the housing 402 may have a cylindrical shape, as shown in Figures 4A and 4B. The base surface 404 may have a square or rectangular shape with a plurality of holes that may be located near (or at some distance from) the edges of the base surface 404 (e.g., the corners of the base surface 404). The base surface 404 may include a hole 422 located within a region 438 to which the housing 402 is connected to the base surface 404. The hole 422 in the base surface 404 may be used to connect a cable 406 via the base surface 404 to a rotary encoder 408 enclosed within the housing 402. The cable 406 includes a set of wires that power the rotary encoder 408 and receive angle and / or orientation information measured by the rotary encoder 408 and transmit it to an on-board control computer (shown as 150 in Figure 1). The cable 406 allows the rotary encoder 408 to interface with the on-board control computer via Society of Automotive Engineers standard SAE J1939 or via a Controller Area Network (CAN) bus.As shown in Figure 4B, a low-friction grommet or smooth grommet (e.g., a low-friction nylon shaft grommet) is located in the hole 422 of the base surface 404 between the cable 406 and the hole 422, thereby allowing the rotary encoder 408 to move upward with at least a portion of the cable 406 when the compression spring 418 is compressed, as will be further described below, and allowing the rotary encoder 408 to move downward with at least a portion of the cable 406 when the compression spring 418 is extended.

[0042] The base surface 404 may include four holes, as shown in Figure 4A, each hole located at one of the corners of the base surface 404. The multiple holes at the corners of the base surface 404 allow the base surface 404 to be coupled to the mounting surface below the fifth wheel via screws. In some embodiments, the base surface 404 may have another shape, such as circular, elliptical, or triangular, and the multiple holes used to coupled the base surface 404 to the mounting surface below the fifth wheel may be located towards the periphery of the base surface 404.

[0043] The flange 410 of the housing 402 includes a number of holes located around the periphery of the flange so that the housing cap 414 can be attached to the housing 402 via screws. For example, as shown in Figure 4A, four screws 412a-412d located on or near the outer edge of the housing cap 414 are used to fasten 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.

[0044] The housing cap 414 can protect the rotary encoder 408 from environmental elements such as grease or debris that may fall from the trailer unit. In some embodiments, the housing cap 414 may have a flat circular shape that can 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 on the first circumference near the outer edge of the housing cap 414, so that a first set of screws (e.g., four screws 412a-412d in Figure 4A) can be used to connect the housing cap 414 to the flange 410 of the housing 402. The second set of holes in the housing cap 414 is contained within a second circumference located at some distance from the outer edge of the housing cap 414, thereby allowing a second set of screws (e.g., four screws 416a-416d in Figure 4A) to be used to connect the rotary encoder 408 to the housing cap 414. The second circumference of holes in the housing cap may be located inside the first circumference of holes in the housing cap. The second set of screws may be shoulder screws, which have a screw head at one end and a threaded surface at the other end, with a smooth shaft (e.g., a cylindrical shaft) between the screw head and the threaded surface. An example of a shoulder screw 416 is shown in Figure 4C. The shoulder screws are inserted from the top of the housing cap 414, so that the screw head of each shoulder screw is located in or on the housing cap 414, and the threaded surface of each shoulder screw is screwed into the body of the rotary encoder 408.

[0045] Each shoulder screw is inserted through a hole in the housing cap 414 and through a low-friction grommet 420 or a smooth grommet 420, and then coupled to the rotary encoder 408 through a compression spring 418. The low-friction grommet or smooth grommet may be a low-friction nylon shaft grommet located in the second set of holes between the shoulder screw 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, so that when the compression spring 418 is almost stretched, the rotary encoder 408 is in a recessed position away from the housing cap 414 within the housing 402 (as shown in Figure 3E), and when the compression spring 418 is almost compressed, the rotary encoder 408 is in an extended position toward the housing cap 414 (as shown in Figure 3F). Therefore, when the trailer unit is not engaged with the fifth wheel, the weight of at least the rotary encoder 408 and the compression spring 418 pushes the rotary encoder 408 downward, so the rotary encoder 408 is in a retracted position.

[0046] At least a portion of the smooth shaft of each shoulder screw is located inside the compression spring 418, thereby the shoulder screws 416a-416d act as guide rods for the compression spring 418, creating 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. As shown in Figure 3F, when one or more magnets located at the top of the rotary encoder assembly 400 are magnetically coupled to the kingpin of the trailer unit, at least a portion of the top of the shoulder screws extends above the housing cap of the rotary encoder assembly 400, due to one or more magnets pulling the rotary encoder 408 (shown as 312 in Figure 3F) upward toward the kingpin together with the cable 406 (shown as 314 in Figure 3F).

[0047] The rotary encoder 408 may be a commercial off-the-shell (COTS) absolute encoder capable of providing an on-board control computer with information on angle and / or orientation (e.g., direction of rotation). 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 of the rotary encoder assembly 400 or the housing 402, thereby providing the on-board control computer with an electrical signal indicating the angle and / or orientation of the rotatable shaft 424 relative to the base surface 404 of the rotary encoder assembly 400 or the housing 404.

[0048] After the rotatable shaft 424 extends together with the rotary encoder 408 and is coupled to the kingpin via one or more magnets 430 and shaft adapter 424 (described further below), when the trailer turns, the rotatable shaft 424 rotates with the kingpin. Since the base surface 404 of the rotatable encoder assembly 400 is coupled to the mounting surface under the fifth wheel, and the rotary encoder 408 is coupled to the housing cap via shoulder screws, when the rotary encoder 408 with the rotatable shaft 424 extends and magnetically couples to the kingpin, the rotatable shaft 424 of the rotary encoder 408 rotates with the kingpin, but the body of the rotary encoder 408 rotates almost none with the kingpin. Thus, the circular movement of the kingpin is converted into the rotatable or rotary movement of the rotatable shaft 424, which is used by the rotary encoder 408 to measure the angle and / or orientation of the trailer unit relative to the tractor unit. The rotatable shaft 424 protrudes from or extends from a hole 426 in the center of the housing cap 414. As shown in Figure 4B, a low-friction grommet or smooth grommet (e.g., a low-friction nylon shaft grommet) is positioned between the rotatable shaft 424 and the hole 426 in the housing cap 414, thereby allowing the rotatable shaft 424 (which is part of the rotary encoder 408) to move upward along with at least a portion of the cable 406 when the compression spring 418 is compressed, as described above, and when the compression spring 418 is extended, the rotatable shaft 424 to move downward along with at least a portion of the cable.

[0049] The top region of the rotatable shaft 424 includes a shaft adapter 428, which can be coupled to the rotatable shaft by press-fitting or by screw. The shaft adapter 428 may have a bottom region (e.g., a cylindrical region) that can be coupled to the rotatable shaft 424. The shaft adapter 428 may have a top region (e.g., a cylindrical region) above the bottom region, with the top region extending outward from the bottom region of the shaft adapter 428. The top region of the shaft adapter 428 is wider than the bottom region of the shaft adapter 428, thereby allowing the top region of the shaft adapter 428 to be coupled to one or more magnets 430. As shown in Figure 4B, the top surface of the top region of the shaft adapter 428 may include a screw hole 434, thereby allowing one or more magnets 430 to be coupled to the top of the top region via a screw 436 through the screw hole 434. One technical advantage 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 facilitate easy or flexible height adjustment, thereby allowing the tops of the one or more magnets 430 to be magnetically coupled to the kingpin of the trailer unit. Thus, the flexibility provided by the rotary encoder assembly design described in this document can minimize situations where different rotary encoder assemblies need to be designed for different kingpin designs or different mounting surfaces under the fifth wheel.

[0050] The base surface 404, housing 402, housing cap 414, and / or shaft adapter 428 may be made of machined aluminum or other non-magnetic metal so that at least these parts do not interfere with the magnetic coupling operation of one or more magnets 430 with the kingpin of the trailer unit.

[0051] In Figure 1, the angle and / or orientation information provided by the rotary encoder assembly may be used by the autonomous driving module 165 in the onboard control computer 150 to control the vehicle 105. For example, when the vehicle 105 is parked or when the vehicle 105 is being backed 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, may enable the autonomous driving module 165 to display the position of the trailer unit on a screen inside the vehicle 105, thereby allowing the driver to have an accurate understanding of the vehicle 105 with the trailer unit together with any objects surrounding the vehicle 105 when the vehicle is parked. In some embodiments, the autonomous driving module 165 may control the steering and / or brakes 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 is turning on a road, the autonomous driving module 165 may use information provided by the rotary encoder assembly to determine the angle and / or orientation of the trailer unit, and the autonomous driving module 165 may use video from one or more cameras on vehicle 105 to determine the orientation (one or more) of one or more objects (e.g., vehicles or pedestrians), and may control the steering and / or brakes of vehicle 105 so that the movement of the trailer unit is controlled by the autonomous driving module 165.

[0052] In another example, if vehicle 105 is stopped at a sign and attempts to turn, the autonomous driving module 165 may use video provided by one or more cameras, as well as angle and / or orientation information from a rotary encoder assembly, to determine that the trailer unit of vehicle 105 could collide with another vehicle located near it. In this example, the autonomous driving module 165 may determine the trajectory of vehicle 105 and steer vehicle 105 to avoid colliding the trailer unit with the vehicle, or the autonomous driving module 165 may continue to apply the brakes until the other vehicle is driven away so that the autonomous driving module 165 can safely turn vehicle 105.

[0053] In yet another example, the autonomous driving module 165 determines that the vehicle 105 is being driven on a road and that the trailer unit is not within a certain angular range from the position of the tractor unit (for example, within ±2 degrees of 180 degrees from the position of the tractor unit, and between 179 and 181 degrees from the position of the tractor unit), and the autonomous driving module 165 can then apply precise steering to move the trailer unit so that it is within that angular range from the position of the tractor unit. In this example, if a gust of wind could move the trailer unit relative to the tractor unit, thereby causing the trailer unit to move to the left (assuming the vehicle 105 is being driven north), the autonomous driving module 165 could instruct the motors in the steering system to turn left and move the trailer unit backward so that the angle formed by the trailer unit relative to the tractor unit is within that angular range. In some embodiments, the angular range may be predetermined, or it may be a function of the vehicle's speed (for example, if the vehicle 105's speed is above a certain threshold (e.g., 40 mph), the angular range is 180 degrees ± 2 degrees, and if the vehicle's speed is above another threshold (e.g., 60 mph), the angular range is 180 degrees ± 1 degree).

[0054] In some embodiments, the autonomous driving module 165 may update the estimate of the center of gravity to establish a stable boundary around the vehicle 105 based on angle and / or orientation information provided by the rotary encoder assembly. If the center of gravity of the tractor unit (also known as the bobtail) as well as the trailer unit is known, the angles made by the trailer unit and the tractor unit may determine where the instantaneous center of gravity of the entire truck may be located. Unlike rigid vehicles such as cars and buses, vehicles with multiple drivable parts (e.g., semi-trailer trucks) may consist of at least two objects joined by a fifth wheel and therefore have a moving center of gravity. 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.

[0055] The following sections describe the exemplary features described in this document.

[0056] Feature 1: The truck comprises: a tractor, the tractor having: a first connector and; an angle measuring device coupled to the first connector; and a trailer, the trailer having: a second connector connected to the first connector and; and at least one magnetic device coupled to the second connector, wherein the angle measuring device measures the motion of at least one magnetic device, and the angle between the tractor and the trailer is determined based on the measurement performed by the angle measuring device.

[0057] Feature 2: The truck described in Feature 1 has a first connector with a fifth wheel and a second connector with a kingpin.

[0058] Feature 3: The angle measuring device is equipped with a rotary encoder, as described in Feature 1.

[0059] Feature 4: The track described in Feature 3, in which the motion of at least one magnetic device is converted into the shaft of a rotary encoder.

[0060] Feature 5: The angle measuring device measures the rotation of the second connector by measuring at least one magnetic device, as described in Feature 1.

[0061] Feature 6: The track described in Feature 1, where the track boundary is depicted based on the angle between the tractor and the trailer.

[0062] Feature 7: At least one magnetic device comprises at least one of the magnets attached to a second connector, the track described in Feature 1, wherein at least one of the magnets is removable.

[0063] Feature 8: The track described in Feature 7, wherein at least one sensor is attached to the second connector via at least one magnet.

[0064] Feature 9: A tractor configured to tow a trailer of a truck, the tractor comprising: a first connector connected to a second connector of the trailer; and an angle measuring device coupled to the first connector, the angle measuring device measuring the motion of at least one magnetic device coupled to the second connector, and the angle between the tractor and the trailer being determined based on the measurement performed by the angle measuring device.

[0065] Feature 10: A trailer configured to be towed by a truck tractor, wherein the tractor comprises a first connector and an angle measuring device coupled to the first connector, and the trailer comprises: 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 motion of at least one magnetic device, and the angle between the tractor and the trailer is determined based on the measurement performed by the angle measuring device.

[0066] Feature 11: A system comprising: an internet server, the internet server having: I / O ports configured to transmit electrical signals to and receive electrical signals from client devices; memory; one or more processing units; and one or more programs stored in memory, the one or more programs being configured to cause one or more processing units to perform at least: measuring the motion of at least one magnetic device by an angle measuring device coupled to a first connector of a tractor, the at least one magnetic device being coupled to a second connector of a trailer, the first connector being coupled to the second connector; and determining an angle between the tractor and the trailer based on the measurement performed by the angle measuring device.

[0067] Feature 12: A method comprising: measuring the motion of at least one magnetic device by 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, and 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 13: A non-transient computer-readable medium storing a program causing a computer to perform a process, the process comprising: measuring the motion of at least one magnetic device by 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, and 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] In this document, the term “exemplary” means “an example” unless otherwise specified, and does not mean an ideal or preferred embodiment. In this document, a technique for measuring the angle and / or orientation (e.g., direction of rotation) of a rear drivable part relative to a front drivable part is described in the context of a semi-trailer truck, but rotary encoder assemblies may be installed in multiple drivable parts of other types (e.g., on or within a hitch on a truck, or on a vehicle with a fifth-wheel camper).

[0070] Some of the embodiments described herein are described in a schematic context of a method or process, but in one embodiment they may be implemented by a computer program product (including computer-executable instructions such as program code, which are executed by a computer in a network environment) embodied on a computer-readable medium. Computer-readable mediums may include removable and non-removable storage devices, which include, but are not limited to, read-only memory (ROM), random-access memory (RAM), compact discs (CDs), digital versatile discs (DVDs), etc. Thus, computer-readable mediums may include non-transient storage media. Generally, program modules may include routines, programs, objects, components, data structures, etc., which 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 an example of corresponding behavior for implementing the functionality described in such steps or processes.

[0071] Some of the disclosed embodiments may be implemented as devices or modules using hardware circuits, software, or a combination thereof. For example, a hardware circuit implementation may include individual analog and / or digital components (e.g., incorporated as part of a printed circuit board). Alternatively, or. In addition, the disclosed components or modules may be implemented as application-specific integrated circuits (ASICs) and / or field-programmable gate array (FPGA) devices. In addition, or, or, in addition, or, some implementations include a digital signal processor (DSP), which is a dedicated microprocessor having an architecture optimized for the operational needs of digital signal processing associated with the functionality disclosed herein. Similarly, various components or subcomponents within each module may be implemented as software, hardware, or firmware. Connectivity between modules and / or between components within modules may be provided using any one of the connection methods and mediums known in the art, including, but not limited to, internet communication using appropriate protocols, wired networks, or wireless networks.

[0072] This document contains many details, but these should not be interpreted as limitations on the claimed or potentially claimed scope of the invention, but rather as descriptions of features specific to a particular invention. Certain features described in this document in the context of separate embodiments may also be implemented as a combination of a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually as multiple embodiments or as suitable subcombinations. Furthermore, while features are described above to be performed as a particular combination and may initially be claimed as such, in some embodiments, one or more features may be removed from the claimed combination, and the claimed combination may be directed towards a subcombination or a variation of a subcombination. Similarly, while actions are depicted in the drawings in a particular order, this should not be interpreted as requiring that such actions be performed in a specific order or sequence shown, or that all illustrated actions be implemented, in order to achieve the desired result.

[0073] Only a few implementations and examples are described, and other implementations, enhancements, and modifications may be made based on those described and illustrated in this document.

Claims

1. It is a vehicle, The aforementioned vehicle has a drivable section at the front, The aforementioned drivable portion in the front is A first connector connected to the chassis of the front drivable portion, the first connector being located toward the rear region of the first drivable portion, Rotary encoder assembly and Equipped with, The rotary encoder assembly is A base surface bonded to a surface located below the first connector, A housing comprising 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 connected to the base surface and the first end of the housing is coupled to a housing cap, A rotary encoder located within the housing between the base surface and the housing cap. Equipped with, The rotary encoder includes a rotatable shaft protruding from a first hole located within the housing cap. The top of the rotatable shaft, located away from the rotary encoder, is coupled to one or more magnets. The rotary encoder is coupled to the housing cap via a plurality of non-rigid compressible couplings, which include a plurality of shoulder screws. A vehicle in which at least a portion of each of the plurality of shoulder screws 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 opposite the first end, the second end of the plurality of springs being located above the rotary encoder.

2. The housing cap includes a first set of holes along the first periphery of a first virtual circle, and the first virtual circle is separated from the edge of the housing cap. Each hole in the first set of holes includes a low-friction grommet, and through the low-friction grommet, a shoulder screw is coupled to the rotary encoder via a spring. Each shoulder screw includes a screw head at one end and a threaded surface at the other opposite end, with a smooth shaft between the screw head and the threaded surface. The vehicle according to claim 1, wherein the screw head of each shoulder screw is located in 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.

3. The housing cap includes a second set of holes along the second periphery of the second virtual circle, the second virtual circle being closer to the edge of the housing cap than the first periphery of the first virtual circle containing the first set of holes, The vehicle according to claim 2, wherein the second set of holes includes screws for connecting the housing cap to a flange located at the first end of the housing.

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

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

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

7. The vehicle according to claim 4, wherein the first connector has a groove positioned toward the rear of the front drivable portion, and the central region of the first connector to which the groove terminates includes the third hole.

8. The vehicle further comprises a rear drivable portion located behind the front drivable portion, The rear drivable portion is equipped with a second connector which is connected to the first connector. The vehicle according to claim 4, wherein the second connector is magnetically coupled to one or more magnets located at the top of the rotatable shaft of the rotary encoder assembly via the third hole in the first connector.

9. The rotatable shaft of the rotary encoder is configured to have rotational movement corresponding to the circular movement of the second connector of the rear drivable portion. The vehicle according to claim 8, wherein the circular movement of the second connector in the rear drivable portion is converted into the rotational movement of the rotatable shaft via one or more magnets.

10. The vehicle according to claim 8, wherein the first connector includes a fifth ring, and the second connector includes a kingpin.

11. The vehicle according to claim 8, wherein the vehicle includes a semi-trailer truck, the front drivable portion includes a tractor unit, and the rear drivable portion includes a trailer unit.

12. The aforementioned forward drivable portion includes a computer, the computer comprising one or more processors and memory configured to store one or more programs, When one or more of the aforementioned programs are executed, When the vehicle is operating on a road, information indicating the angle or direction of rotation of the rear drivable part relative to the front drivable part is received from the rotary encoder, The vehicle is made to perform autonomous driving operations based on the angle or direction of rotation of the rear drivable portion. The vehicle according to claim 8, wherein one or more processors are configured to perform the following:

13. The one or more processors described above are: When the vehicle is operating on the road at a speed exceeding a threshold, it is determined that the angle of the rear drivable portion is outside the allowable angular range for the rear drivable portion. A command is transmitted to a motor in the vehicle's steering system to cause the vehicle to steer so as to move the rear drivable portion within the angular range permitted for the rear drivable portion. The vehicle according to claim 12, configured to perform the autonomous driving operation, thereby causing the vehicle to perform the autonomous driving operation.

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

15. The rotary encoder is connected to a movable cable, The vehicle according to claim 1, wherein the base surface includes a second hole located within a region to which the housing is connected to the base surface, thereby allowing at least a portion of the movable cable to enter the housing through the second hole.

Images