A system includes an inertial navigation system module (INS module) that detects vehicle yaw rates and vehicle lateral speeds, a controller circuit communicatively coupled with the INS module. The controller circuit determines a tire cornering stiffness (C.sub.f, C.sub.r) based on vehicle physical parameters and vehicle dynamic parameters. The controller circuit determines a vehicle moment of inertia (Iz) based on the vehicle physical parameters, the vehicle dynamic parameters, and the tire cornering stiffness (C.sub.f, C.sub.r).

The disclosure is generally directed to vehicle load balancing systems and methods. An example method executed by a processor includes receiving, from a weight sensor, a first weight measurement of a cargo item placed upon a cargo bed of a vehicle and further includes receiving a second weight measurement from the weight sensor after detecting that the vehicle is in motion. The processor then determines, based on detecting a difference between the first weight measurement and the second weight measurement that the cargo item has shifted from a first spot to a second spot on the cargo bed. The example method can further involve placing the cargo bed in a tilted configuration followed by configuring the vehicle to jerk sporadically while traveling in a first direction that is selected to shift the cargo item back from the second spot to the first spot on the cargo bed.

Systems and methods for determining a maximum phase recovery envelope are disclosed herein. In one example, a system includes a processor and a memory having a vehicle control module. The vehicle control module includes instructions that, when executed by the processor, cause the processor to determine a critical point on a phase plane indicating a maximum defined recovery point a vehicle can recover from, perform forward and reverse simulations from the critical point to define outermost contours of a maximum phase recovery envelope using parameters and state of the vehicle, and cause the vehicle to operate within the maximum phase recovery envelope.

A loading calculation module includes a storage unit, an inertial sensing unit and a calculation unit. The first storage unit is configured to store a relationship between an engine performance and a load, a sprung mass, a centroid distance between a sprung centroid, a rotation center and a moment of inertia. The inertial sensing unit is configured to detect a tilt angle, a tilt angular velocity, a tilt angular acceleration and a lateral acceleration. The calculation unit is configured to obtain a load corresponding to the engine performance according to the relationship between the engine performance and the load; and obtain a load position according to the moment of inertia, the tilt angle, the tilt angular velocity, the tilt angular acceleration, the lateral acceleration, the load and the centroid distance.

The disclosure is generally directed to vehicle load balancing systems and methods. An example method executed by a processor includes receiving, from a weight sensor, a first weight measurement of a cargo item placed upon a cargo bed of a vehicle and further includes receiving a second weight measurement from the weight sensor after detecting that the vehicle is in motion. The processor then determines, based on detecting a difference between the first weight measurement and the second weight measurement that the cargo item has shifted from a first spot to a second spot on the cargo bed. The example method can further involve placing the cargo bed in a tilted configuration followed by configuring the vehicle to jerk sporadically while traveling in a first direction that is selected to shift the cargo item back from the second spot to the first spot on the cargo bed.

The present invention achieves a technique that not only makes it possible to reduce sensor-related cost but also makes it possible to estimate a ground contact load of a vehicle with sufficiently high accuracy. A ground contact load estimation device (100) causes an acquisition section to acquire a physical quantity related to a vehicle, causes a reference inertia load calculation section (111) to calculate a reference inertia load with use of the physical quantity, uses the physical quantity to cause a correction value calculation section (112) to calculate an inertia load correction value, and causes an inertia load estimation section (110) to estimate an inertia load by adding the inertia load correction value to the reference inertia load.

Systems and methods for detecting snow and ice accumulation on a vehicle. In particular, systems and methods are provided for utilizing on-board sensors to automate the process of detecting snow and ice accumulation on surfaces of an autonomous vehicle. Additionally, systems and methods are provided for utilizing on-board sensors to monitor snow and ice accumulation on surfaces of an autonomous vehicle. Automating the detection and monitoring of snow and ice accumulation on a vehicle can minimize physical inspections and unnecessary interruptions to vehicle operation in wintry conditions.

Systems and methods for determining a maximum phase recovery envelope are disclosed herein. In one example, a system includes a processor and a memory having a vehicle control module. The vehicle control module includes instructions that, when executed by the processor, cause the processor to determine a critical point on a phase plane indicating a maximum defined recovery point a vehicle can recover from, perform forward and reverse simulations from the critical point to define outermost contours of a maximum phase recovery envelope using parameters and state of the vehicle, and cause the vehicle to operate within the maximum phase recovery envelope.