System and method for determining a center of gravity of a trailer
A system for determining a center of gravity of a trailer is described. The trailer includes a front portion, a rear portion, and a first side and a second side extending between the front and rear portion. The system includes one or more sensors, each having a field-of-view, associated with a vehicle and a processing device in communication with the one or more sensors. The processing device is configured to execute instructions stored in a memory to perform operations. The operations include measuring a plurality of initial points along at least one of the first side and the second side within the field-of-view of the one or more sensors, generating an initial trailer model representative of the plurality of initial points, measuring a plurality of subsequent points along the at least one of the first side and the second side within the field-of-view of the one or more sensors after the plurality of initial points are measured, generating a subsequent trailer model representative of the plurality of subsequent points, assessing the subsequent trailer model and the initial trailer model, determining a roll angle and a kink angle of the trailer based on the assessment of the subsequent trailer model and the initial trailer model, and determining a center of gravity of the trailer based on the roll angle and the kink angle.
1 . A system for determining a center of gravity of a trailer, where the trailer comprises a front portion, a rear portion, and a first side and a second side extending between the front and rear portions, the system comprising:
one or more sensors associated with a vehicle, each of the one or more sensors having a field-of-view; and
a processing device in communication with the one or more sensors, wherein the processing device is configured to execute instructions stored in a memory to perform operations, the operations comprising:
measuring a plurality of initial points along at least one of the first side and the second side of the trailer within the field-of-view of the one or more sensors;
generating an initial trailer model representative of the plurality of initial points;
after the plurality of initial points are measured, measuring a plurality of subsequent points along the at least one of the first side and the second side of the trailer within the field-of-view of the one or more sensors;
generating a subsequent trailer model representative of the plurality of subsequent points;
assessing the subsequent trailer model and the initial trailer model;
determining a roll angle and a kink angle of the trailer based on the assessment of the subsequent trailer model and the initial trailer model; and
determining a center of gravity of the trailer based on the roll angle and the kink angle.
2 . The system of claim 1 , wherein the one or more sensors include at least one first sensor disposed on a first side of the vehicle and at least one second sensor disposed on a second side of the vehicle.
3 . The system of claim 2 , wherein measuring the plurality of initial points comprises:
measuring a first plurality of initial points along the first side of the trailer using the at least one first sensor; and
measuring a second plurality of initial points along the second side of the trailer using the at least one second sensor.
4 . The system of claim 3 , wherein measuring the plurality of initial points further comprises aggregating the first plurality of initial points and the second plurality of initial points as the plurality of initial points.
5 . The system of claim 4 , wherein measuring the plurality of initial points along at least one side of the trailer within the field-of-view of the one or more sensors comprises detecting at least one patch removably attached to the at least one side of the trailer, wherein each patch is configured to improve reflection of a signal from the one or more sensors for detection of the plurality of initial points by the one or more sensors.
6 . The system of claim 5 , wherein measuring the plurality of subsequent points comprises:
measuring a first plurality of subsequent points along the first side of the trailer using the at least one first sensor; and
measuring a second plurality of subsequent points on the second side of the trailer using the at least one second sensor.
7 . The system of claim 6 , wherein measuring the plurality of subsequent points comprises aggregating the first plurality of subsequent points and the second plurality of subsequent points as the plurality of plurality of subsequent points.
8 . The system of claim 7 , wherein measuring the plurality of subsequent points comprises detecting the at least one patch removably during measuring of the first plurality of subsequent points and the second plurality of subsequent points.
9 . The system of claim 1 , wherein the operations further comprise determining a likelihood of incident for the trailer based on the roll angle, the kink angle, and the center of gravity.
10 . The system of claim 9 , wherein the operations further comprise transmitting the roll angle, the kink angle, the center of gravity, and the likelihood of incident for the trailer to a vehicle control unit configured to regulate operation of the autonomous vehicle based on at least one of the roll angle, the kink angle, the center of gravity, and the likelihood of incident.
11 . The system of claim 1 , wherein measuring the plurality of initial points along at least one of the first side and the second side of the trailer within the field-of-view of the one or more sensors comprises measuring the plurality of initial points once the trailer is coupled to the vehicle.
12 . The system of claim 1 , wherein the operations further comprise:
initiating operation of the vehicle; and
measuring the plurality of subsequent points along the at least one of the first side and the second side of the trailer during operation of the vehicle.
13 . The system of claim 2 , wherein the operations further comprise when the trailer is outside of the field-of-view of the first sensor and the second sensor, purging the trailer model.
14 . A computer-implemented method for determining a center of gravity of a trailer, where the trailer comprises a front portion, a rear portion, and a first side and a second side extending between the front and rear portions, comprising:
executing instructions stored in a memory with a processing device in communication with the one or more sensors to perform operations comprising:
measuring a plurality of initial points along at least one of the first side and the second side of the trailer within a field-of-view of one or more sensors associated with a vehicle;
generating an initial trailer model representative of the plurality of initial points;
after the plurality of initial points are measured, measuring a plurality of subsequent points along the at least one of the first side and the second side of the trailer within the field-of-view of the one or more sensors;
generating a subsequent trailer model representative of the plurality of subsequent points;
assessing the subsequent trailer model and the initial trailer model;
determining a roll angle and a kink angle of the trailer based on the assessment of the subsequent trailer model and the initial trailer model; and
determining a center of gravity of the trailer based on the roll angle and the kink angle.
15 . The computer-implemented method of claim 14 , wherein the one or more sensors include at least one first sensor disposed on a first side of the vehicle and at least one second sensor disposed on a second side of the vehicle.
16 . The computer-implemented method of claim 15 , wherein measuring the plurality of initial points comprises:
measuring a first plurality of initial points along the first side of the trailer using the at least one first sensor; and
measuring a second plurality of initial points along the second side of the trailer using the at least one second sensor.
17 . The computer-implemented method of claim 16 , wherein measuring the plurality of subsequent points comprises:
measuring a first plurality of subsequent points along the first side of the trailer using the at least one first sensor; and
measuring a second plurality of subsequent points on the second side of the trailer using the at least one second sensor.
18 . The computer-implemented method of claim 17 , wherein measuring the plurality of subsequent points comprises aggregating the first plurality of subsequent points and the second plurality of subsequent points as the plurality of plurality of subsequent points.
19 . The computer-implemented method of claim 18 , wherein measuring the plurality of initial points along at least one side of the trailer within the field-of-view of the one or more sensors comprises using at least one patch removably attached to the at least one side of the trailer, wherein each patch is configured to improve reflection of a signal from the one or more sensors for detection of the plurality of initial points by the one or more sensors.
20 . The computer-implemented method of claim 14 , wherein the operations further comprise determining a likelihood of incident for the trailer based on the roll angle, the kink angle, and the center of gravity.