Patent Publication Number: US-2023158982-A1

Title: Vehicle mass measurement for automated braking

Description:
BACKGROUND 
     The present invention relates generally to a method, system, and computer program product for vehicle mass measurement. More particularly, the present invention relates to a method, system, and computer program product for vehicle mass measurement for automated braking. 
     A collision avoidance system or collision mitigation system is a vehicle control system designed to prevent or reduce the severity of a collision. A collision avoidance or mitigation system monitors a vehicle&#39;s speed, the speed of another vehicle, and the distance between the vehicles. If the distance between the vehicles is predicted to decrease below a threshold amount, some systems warn a human driver of an impending collision, some systems brake the vehicle (or perform another action) to attempt to avoid the impending collision, and some systems provide both a warning and an autonomous action. An autonomous vehicle (AV) has no human driver to warn, but also includes a braking system with a collision avoidance component. 
     A trailer brake controller is an electronic device that regulates brakes on a trailer, allowing a driver of a vehicle towing the trailer to activate, monitor, and adjust trailer brake activity from the driving position of the towing vehicle. When the towing vehicle&#39;s braking system is activated (e.g. by the driver pressing the brake pedal, or by an automated system), the trailer brake controller signals brakes on the trailer wheels to activate, helping stop the tow vehicle-trailer combination. Typically, a driver adjusts the maximum amount of power a trailer brake controller applies to the trailer brakes and how aggressively the brake controller applies the brakes manually, by testing the braking action of the tow vehicle-trailer combination and adjusting until the driver perceives the braking action to be correct for a particular trailer and load. 
     SUMMARY 
     The illustrative embodiments provide a method, system, and computer program product. An embodiment includes a method that constructs, from a set of point data, a set of scattered rays, a ray in the set of scattered rays comprising a line with a first endpoint at an origin point and a second endpoint at a point in the set of point data, wherein the point comprises an x coordinate denoting an acceleration value and a y coordinate denoting a force value of a vehicle. An embodiment computes, from the set of scattered rays, a set of ray slopes, a ray slope in the set of ray slopes comprising a slope of the ray. An embodiment maps the set of ray slopes to a corresponding set of trigonometric functions. An embodiment selects, using an optimization method, a parameter of the set of trigonometric functions. An embodiment computes, using an inverse of the set trigonometric functions, a vehicle mass corresponding to the set of point data. An embodiment adjusts, based on the vehicle mass, a threshold braking distance of a collision avoidance system of the vehicle, the threshold braking distance comprising a distance from an object predicted to collide with the vehicle. An embodiment avoids, by braking the vehicle at least the threshold braking distance from the object, a predicted collision between the vehicle and the object. 
     An embodiment includes a computer usable program product. The computer usable program product includes one or more computer-readable storage devices, and program instructions stored on at least one of the one or more storage devices. 
     An embodiment includes a computer system. The computer system includes one or more processors, one or more computer-readable memories, and one or more computer-readable storage devices, and program instructions stored on at least one of the one or more storage devices for execution by at least one of the one or more processors via at least one of the one or more memories. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Certain novel features believed characteristic of the invention are set forth in the appended claims. The invention itself, however, as well as a preferred mode of use, further objectives and advantages thereof, will best be understood by reference to the following detailed description of the illustrative embodiments when read in conjunction with the accompanying drawings, wherein: 
         FIG.  1    depicts a block diagram of a network of data processing systems in which illustrative embodiments may be implemented; 
         FIG.  2    depicts a block diagram of a data processing system in which illustrative embodiments may be implemented; 
         FIG.  3    depicts a block diagram of an example configuration for vehicle mass measurement for automated braking in accordance with an illustrative embodiment; 
         FIG.  4    depicts an example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment; 
         FIG.  5    depicts a continued example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment; 
         FIG.  6    depicts a continued example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment; 
         FIG.  7    depicts a continued example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment; 
         FIG.  8    depicts a flowchart of an example process for vehicle mass measurement for automated braking in accordance with an illustrative embodiment; 
         FIG.  9    depicts a cloud computing environment according to an embodiment of the present invention; and 
         FIG.  10    depicts abstraction model layers according to an embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION 
     The illustrative embodiments recognize that mass is a component in computing a vehicle&#39;s momentum (i.e. how long, in time and distance, before a predicted collision to brake), the braking force necessary to decelerate a vehicle within a particular distance, and kinetic energy (i.e. how severe a collision is likely to be, and whether a collision is avoidable at all). In particular, using the same brake force a heavier vehicle or vehicle-trailer combination requires a greater stopping distance than a lighter vehicle. Alternatively, a heavier vehicle requires more brake force to stop within a particular distance than a lighter vehicle. The kinetic energy of a vehicle is also usable in determining whether to brake at all (e.g. because overbraking would cause a vehicle to skid or jackknife), as well as whether to perform additional mitigation actions, such as deploying air bags to protect a vehicle&#39;s passengers. As a result, knowledge of a vehicle&#39;s current mass is important in appropriately configuring a vehicle&#39;s automated braking system, collision avoidance system, or trailer brake controller. For similar reasons, knowledge of a vehicle&#39;s current mass is important in performing range calculations for an electric vehicle, and in other AV control applications. Knowledge of a vehicle&#39;s current mass is also important in computing other vehicle performance parameters, for example the aerodynamic characteristics and hence fuel consumption rate of an aircraft and the performance characteristics and hence fuel consumption or optimal sail configuration of a boat. 
     The illustrative embodiments also recognize that a vehicle&#39;s mass is not constant. The number of occupants, and their sizes, can change from one journey to another. For example, adults generally mass more than small children. A vehicle&#39;s cargo area might be empty or full, or in an intermediate state, and the mass of any cargo is variable as well. A vehicle might be pulling a trailer one day and not another day, the trailer itself might be empty or full, and the mass of the trailer&#39;s cargo comparatively heavy or light. In addition, the mass of a vehicle with a fuel tank changes during a journey as fuel is burned and the tank refilled. Hence, the illustrative embodiments recognize that there is a need to determine a vehicle&#39;s current mass. 
     The illustrative embodiments also recognize that determining a vehicle&#39;s mass, using the expression F=m*a (force=mass multiplied by acceleration), is one example of a linear relationship between variables. Some other non-limiting examples of linear relationships known in physics are v=n*t (velocity=revolutions multiplied by transmission ratio), V=I*R (voltage=current multiplied by resistance), P=T*w (power=torque multiplied by angular velocity). In general, any linear relationship can be represented on a graph with a line described using the expression y=m*x+b, where x and y are coordinates of a point on the line, m is the slope of the line, and b is a constant. One method of determining the slope, or m, or coefficient, term in a linear relationship uses a linear regression technique, in which a predictive model is fitted to an observed data set of x and y values. However, in vehicle and other industrial applications, observed data is often concentrated in a particular region of possible data, due to a limited range of system parameters and configurations. This data concentration often results in a model that is overfit to the data-rich region and underfit, and hence likely inaccurate, with respect to other regions in which data is sparse. Vehicle and other industrial applications are also subject to noise in observed data. Consequently, the illustrative embodiments recognize that there is an unmet need for more accurate modelling of a linear relationship, and in particular to determine a vehicle&#39;s current mass, for use in computing braking and other vehicle performance parameters. 
     The illustrative embodiments recognize that the presently available tools or solutions do not address these needs or provide adequate solutions for these needs. The illustrative embodiments used to describe the invention generally address and solve the above-described problems and other problems related to vehicle mass measurement for automated braking. 
     An embodiment can be implemented as a software application. The application implementing an embodiment can be configured as a modification of an existing vehicle control system, as a separate application that operates in conjunction with an existing vehicle control system, a standalone application, or some combination thereof. 
     Particularly, some illustrative embodiments provide a method that constructs, from a set of point data, a set of scattered rays, computes a set of ray slopes from the set of scattered rays, maps the set of ray slopes to a corresponding set of trigonometric functions, uses an optimization method to select a parameter of the set of trigonometric functions, uses an inverse of the set trigonometric functions to compute a vehicle mass corresponding to the set of point data, and used the computed vehicle mass to avoid a predicted collision by braking the vehicle. 
     An embodiment receives data from which to derive a linear relationship. In particular, the data comprises pairs of values, in which one element of each pair corresponds to an x coordinate and the other element of each pair corresponds to a y coordinate. Thus, each pair of values comprises a point in a two-dimensional graph, and the embodiment&#39;s goal is to find a line connecting the points, with a slope corresponding to a variable being modelled. One embodiment receives acceleration and corresponding force data from which a mass of the vehicle is to be computed. 
     An embodiment filters the point data to remove one or more outliers. An outlier is a data point that is more than a threshold distance from any other data point, or more than a threshold distance from a predetermined number of other data points. Outlier filtering techniques are presently known. 
     An embodiment selects an origin point within the filtered point data, and construct a set of scattered rays by connecting each data point to the selected origin point. One embodiment selects, as the origin point, a point with an x coordinate equal to zero and a y coordinate equal to zero. Because the rays are lines in a two-dimensional graph, each ray has a slope corresponding to a variable being modelled. 
     An embodiment filters the set of ray slopes to remove one or more outliers. One embodiment constructs a histogram of the number of occurrences of different values of ray slopes, filters the histogram by quantile to remove outliers in the set of ray slopes. Quantiles are values that partition a finite set of values into subsets, and filtering by quantiles is a presently known technique that removes one or more of the subsets of data. Other filtering techniques are also known and contemplated within the scope of the illustrative embodiments. 
     An embodiment smooths the filtered set of ray slopes to reduce the influence of high-density outliers on eventual model results. One embodiment uses a Savitzky-Golay, or Savgol, filter, a presently known digital filter that smooths a set of data points. Other smoothing techniques are also known and contemplated within the scope of the illustrative embodiments. 
     To reduce the effects of noise generated during data collection and resulting model inconsistency, an embodiment maps the filtered and smoothed set of ray slopes to a corresponding set of trigonometric functions. In particular, if each ray slope is denoted by m, an embodiment computes the arctangent of m divided by a predefined parameter. In one embodiment, the predefined parameter is selected based on parameters of a particular vehicle or vehicle model. Selecting a predefined parameter that is an estimate of the measurement being performed reduces the number of optimizations needed to optimize the predefined parameter 
     An embodiment uses an optimization method to optimize the predefined parameter to produce as significant a function peak as possible. One embodiment uses a Bayesian optimization to optimize the predefined parameter. Bayesian optimization is a presently known sequential strategy for function optimization that does not assume that the function has a particular form. Other optimization techniques are also known and contemplated within the scope of the illustrative embodiments. 
     An embodiment maps the optimized trigonometric function back to its original domain. In particular, if the trigonometric function computed the arctangent of m divided by a predefined parameter, an embodiment computes m=p multiplied by the tangent of the peak value, where m denotes a slope value within a linear relationship and p denotes the optimized parameter. 
     An embodiment evaluates the model quality. One embodiment evaluates model quality by repeating the data collection and processing one or more times, optionally under different working conditions, obtaining multiple slope values. When further repeats of the data collection and processing fail to alter an area under the peak in a graph of the optimized trigonometric function by more than a threshold amount, an embodiment computes m=p multiplied by the tangent of the peak value in that graph. 
     An embodiment implemented in a vehicle uses the model to compute the vehicle&#39;s current mass from current acceleration and corresponding force data, and uses the computed mass to configure the vehicle&#39;s automated braking system, collision avoidance system, or trailer brake controller. In particular, one embodiment adjusts, based on the vehicle mass, a threshold braking distance of a collision avoidance system of the vehicle. The threshold braking distance is a distance from an object predicted to collide with the vehicle by which the vehicle should brake to avoid a predicted collision. The embodiment avoids the predicted collision by braking the vehicle at least the threshold braking distance from the object with which the vehicle is predicted to collide. Another embodiment adjusts, based on the vehicle mass, an airbag trigger threshold of the vehicle. The airbag trigger threshold is a kinetic energy value of a predicted collision between the vehicle and an object. If a kinetic energy of a predicted collision is above the airbag trigger threshold, the embodiment triggers the vehicle&#39;s airbag system. Another embodiment implemented in a vehicle uses the computed mass in performing range calculations for an electric vehicle, and in other AV control applications. Another embodiment implemented in a vehicle uses the computed mass in computing other vehicle performance parameters, for example the aerodynamic characteristics and hence fuel consumption rate of an aircraft and the performance characteristics and hence fuel consumption or optimal sail configuration of a boat. 
     The manner of vehicle mass measurement for automated braking described herein is unavailable in the presently available methods in the technological field of endeavor pertaining to vehicle control systems. A method of an embodiment described herein, when implemented to execute on a device or data processing system, comprises substantial advancement of the functionality of that device or data processing system in constructing, from a set of point data, a set of scattered rays, computing a set of ray slopes from the set of scattered rays, mapping the set of ray slopes to a corresponding set of trigonometric functions, using an optimization method to select a parameter of the set of trigonometric functions, using an inverse of the set trigonometric functions to compute a vehicle mass corresponding to the set of point data, and using the computed vehicle mass to avoid a predicted collision by braking the vehicle. 
     The illustrative embodiments are described with respect to certain types of linear relationships, point data, transformations, mappings, trigonometric functions, filtering, smoothing, vehicle systems, thresholds, evaluations, adjustments, sensors, measurements, devices, data processing systems, environments, components, and applications only as examples. Any specific manifestations of these and other similar artifacts are not intended to be limiting to the invention. Any suitable manifestation of these and other similar artifacts can be selected within the scope of the illustrative embodiments. 
     Furthermore, the illustrative embodiments may be implemented with respect to any type of data, data source, or access to a data source over a data network. Any type of data storage device may provide the data to an embodiment of the invention, either locally at a data processing system or over a data network, within the scope of the invention. Where an embodiment is described using a mobile device, any type of data storage device suitable for use with the mobile device may provide the data to such embodiment, either locally at the mobile device or over a data network, within the scope of the illustrative embodiments. 
     The illustrative embodiments are described using specific code, designs, architectures, protocols, layouts, schematics, and tools only as examples and are not limiting to the illustrative embodiments. Furthermore, the illustrative embodiments are described in some instances using particular software, tools, and data processing environments only as an example for the clarity of the description. The illustrative embodiments may be used in conjunction with other comparable or similarly purposed structures, systems, applications, or architectures. For example, other comparable mobile devices, structures, systems, applications, or architectures therefor, may be used in conjunction with such embodiment of the invention within the scope of the invention. An illustrative embodiment may be implemented in hardware, software, or a combination thereof. 
     The examples in this disclosure are used only for the clarity of the description and are not limiting to the illustrative embodiments. Additional data, operations, actions, tasks, activities, and manipulations will be conceivable from this disclosure and the same are contemplated within the scope of the illustrative embodiments. 
     Any advantages listed herein are only examples and are not intended to be limiting to the illustrative embodiments. Additional or different advantages may be realized by specific illustrative embodiments. Furthermore, a particular illustrative embodiment may have some, all, or none of the advantages listed above. 
     It is to be understood that although this disclosure includes a detailed description on cloud computing, implementation of the teachings recited herein are not limited to a cloud computing environment. Rather, embodiments of the present invention are capable of being implemented in conjunction with any other type of computing environment now known or later developed. 
     Cloud computing is a model of service delivery for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g., networks, network bandwidth, servers, processing, memory, storage, applications, virtual machines, and services) that can be rapidly provisioned and released with minimal management effort or interaction with a provider of the service. This cloud model may include at least five characteristics, at least three service models, and at least four deployment models. 
     Characteristics are as follows: 
     On-demand self-service: a cloud consumer can unilaterally provision computing capabilities, such as server time and network storage, as needed automatically without requiring human interaction with the service&#39;s provider. 
     Broad network access: capabilities are available over a network and accessed through standard mechanisms that promote use by heterogeneous thin or thick client platforms (e.g., mobile phones, laptops, and PDAs). 
     Resource pooling: the provider&#39;s computing resources are pooled to serve multiple consumers using a multi-tenant model, with different physical and virtual resources dynamically assigned and reassigned according to demand. There is a sense of location independence in that the consumer generally has no control or knowledge over the exact location of the provided resources but may be able to specify location at a higher level of abstraction (e.g., country, state, or datacenter). 
     Rapid elasticity: capabilities can be rapidly and elastically provisioned, in some cases automatically, to quickly scale out and rapidly released to quickly scale in. To the consumer, the capabilities available for provisioning often appear to be unlimited and can be purchased in any quantity at any time. 
     Measured service: cloud systems automatically control and optimize resource use by leveraging a metering capability at some level of abstraction appropriate to the type of service (e.g., storage, processing, bandwidth, and active user accounts). Resource usage can be monitored, controlled, and reported, providing transparency for both the provider and consumer of the utilized service. 
     Service Models are as follows: 
     Software as a Service (SaaS): the capability provided to the consumer is to use the provider&#39;s applications running on a cloud infrastructure. The applications are accessible from various client devices through a thin client interface such as a web browser (e.g., web-based e-mail). The consumer does not manage or control the underlying cloud infrastructure including network, servers, operating systems, storage, or even individual application capabilities, with the possible exception of limited user-specific application configuration settings. 
     Platform as a Service (PaaS): the capability provided to the consumer is to deploy onto the cloud infrastructure consumer-created or acquired applications created using programming languages and tools supported by the provider. The consumer does not manage or control the underlying cloud infrastructure including networks, servers, operating systems, or storage, but has control over the deployed applications and possibly application hosting environment configurations. 
     Infrastructure as a Service (IaaS): the capability provided to the consumer is to provision processing, storage, networks, and other fundamental computing resources where the consumer is able to deploy and run arbitrary software, which can include operating systems and applications. The consumer does not manage or control the underlying cloud infrastructure but has control over operating systems, storage, deployed applications, and possibly limited control of select networking components (e.g., host firewalls). 
     Deployment Models are as follows: 
     Private cloud: the cloud infrastructure is operated solely for an organization. It may be managed by the organization or a third party and may exist on-premises or off-premises. 
     Community cloud: the cloud infrastructure is shared by several organizations and supports a specific community that has shared concerns (e.g., mission, security requirements, policy, and compliance considerations). It may be managed by the organizations or a third party and may exist on-premises or off-premises. 
     Public cloud: the cloud infrastructure is made available to the general public or a large industry group and is owned by an organization selling cloud services. 
     Hybrid cloud: the cloud infrastructure is a composition of two or more clouds (private, community, or public) that remain unique entities but are bound together by standardized or proprietary technology that enables data and application portability (e.g., cloud bursting for load-balancing between clouds). 
     A cloud computing environment is service oriented with a focus on statelessness, low coupling, modularity, and semantic interoperability. At the heart of cloud computing is an infrastructure that includes a network of interconnected nodes. 
     With reference to the figures and in particular with reference to  FIGS.  1  and  2   , these figures are example diagrams of data processing environments in which illustrative embodiments may be implemented.  FIGS.  1  and  2    are only examples and are not intended to assert or imply any limitation with regard to the environments in which different embodiments may be implemented. A particular implementation may make many modifications to the depicted environments based on the following description. 
       FIG.  1    depicts a block diagram of a network of data processing systems in which illustrative embodiments may be implemented. Data processing environment  100  is a network of computers in which the illustrative embodiments may be implemented. Data processing environment  100  includes network  102 . Network  102  is the medium used to provide communications links between various devices and computers connected together within data processing environment  100 . Network  102  may include connections, such as wire, wireless communication links, or fiber optic cables. 
     Clients or servers are only example roles of certain data processing systems connected to network  102  and are not intended to exclude other configurations or roles for these data processing systems. Server  104  and server  106  couple to network  102  along with storage unit  108 . Software applications may execute on any computer in data processing environment  100 . Clients  110 ,  112 , and  114  are also coupled to network  102 . A data processing system, such as server  104  or  106 , or client  110 ,  112 , or  114  may contain data and may have software applications or software tools executing thereon. 
     Only as an example, and without implying any limitation to such architecture,  FIG.  1    depicts certain components that are usable in an example implementation of an embodiment. For example, servers  104  and  106 , and clients  110 ,  112 ,  114 , are depicted as servers and clients only as example and not to imply a limitation to a client-server architecture. As another example, an embodiment can be distributed across several data processing systems and a data network as shown, whereas another embodiment can be implemented on a single data processing system within the scope of the illustrative embodiments. Data processing systems  104 ,  106 ,  110 ,  112 , and  114  also represent example nodes in a cluster, partitions, and other configurations suitable for implementing an embodiment. 
     Device  132  is an example of a device described herein. For example, device  132  can take the form of a smartphone, a tablet computer, a laptop computer, client  110  in a stationary or a portable form, a wearable computing device, or any other suitable device. Any software application described as executing in another data processing system in  FIG.  1    can be configured to execute in device  132  in a similar manner. Any data or information stored or produced in another data processing system in  FIG.  1    can be configured to be stored or produced in device  132  in a similar manner. Device  132  can be implemented within a vehicle. 
     Vehicle  142  is an example of a device described herein. For example, vehicle  142  can take the form of a smartphone, a tablet computer, a laptop computer, client  110  in a stationary or a portable form, or any other suitable device installed in a vehicle. Vehicle  142  includes data collection system  144  and braking control system  146 , for use in configuring and controlling vehicle  142 . Any software application described as executing in another data processing system in  FIG.  1    can be configured to execute in vehicle  142  in a similar manner. Any data or information stored or produced in another data processing system in  FIG.  1    can be configured to be stored or produced in vehicle  142  in a similar manner. 
     Application  105  implements an embodiment described herein. Application  105  executes in any of servers  104  and  106 , clients  110 ,  112 , and  114 , device  132 , and vehicle  142 . 
     Servers  104  and  106 , storage unit  108 , and clients  110 ,  112 , and  114 , device  132  and vehicle  142  may couple to network  102  using wired connections, wireless communication protocols, or other suitable data connectivity. Clients  110 ,  112 , and  114  may be, for example, personal computers or network computers. 
     In the depicted example, server  104  may provide data, such as boot files, operating system images, and applications to clients  110 ,  112 , and  114 . Clients  110 ,  112 , and  114  may be clients to server  104  in this example. Clients  110 ,  112 ,  114 , or some combination thereof, may include their own data, boot files, operating system images, and applications. Data processing environment  100  may include additional servers, clients, and other devices that are not shown. 
     In the depicted example, data processing environment  100  may be the Internet. Network  102  may represent a collection of networks and gateways that use the Transmission Control Protocol/Internet Protocol (TCP/IP) and other protocols to communicate with one another. At the heart of the Internet is a backbone of data communication links between major nodes or host computers, including thousands of commercial, governmental, educational, and other computer systems that route data and messages. Of course, data processing environment  100  also may be implemented as a number of different types of networks, such as for example, an intranet, a local area network (LAN), or a wide area network (WAN).  FIG.  1    is intended as an example, and not as an architectural limitation for the different illustrative embodiments. 
     Among other uses, data processing environment  100  may be used for implementing a client-server environment in which the illustrative embodiments may be implemented. A client-server environment enables software applications and data to be distributed across a network such that an application functions by using the interactivity between a client data processing system and a server data processing system. Data processing environment  100  may also employ a service oriented architecture where interoperable software components distributed across a network may be packaged together as coherent business applications. Data processing environment  100  may also take the form of a cloud, and employ a cloud computing model of service delivery for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g. networks, network bandwidth, servers, processing, memory, storage, applications, virtual machines, and services) that can be rapidly provisioned and released with minimal management effort or interaction with a provider of the service. 
     With reference to  FIG.  2   , this figure depicts a block diagram of a data processing system in which illustrative embodiments may be implemented. Data processing system  200  is an example of a computer, such as servers  104  and  106 , or clients  110 ,  112 , and  114  in  FIG.  1   , or another type of device in which computer usable program code or instructions implementing the processes may be located for the illustrative embodiments. 
     Data processing system  200  is also representative of a data processing system or a configuration therein, such as data processing system  132  in  FIG.  1    in which computer usable program code or instructions implementing the processes of the illustrative embodiments may be located. Data processing system  200  is described as a computer only as an example, without being limited thereto. Implementations in the form of other devices, such as device  132  in  FIG.  1   , may modify data processing system  200 , such as by adding a touch interface, and even eliminate certain depicted components from data processing system  200  without departing from the general description of the operations and functions of data processing system  200  described herein. 
     In the depicted example, data processing system  200  employs a hub architecture including North Bridge and memory controller hub (NB/MCH)  202  and South Bridge and input/output (I/O) controller hub (SB/ICH)  204 . Processing unit  206 , main memory  208 , and graphics processor  210  are coupled to North Bridge and memory controller hub (NB/MCH)  202 . Processing unit  206  may contain one or more processors and may be implemented using one or more heterogeneous processor systems. Processing unit  206  may be a multi-core processor. Graphics processor  210  may be coupled to NB/MCH  202  through an accelerated graphics port (AGP) in certain implementations. 
     In the depicted example, local area network (LAN) adapter  212  is coupled to South Bridge and I/O controller hub (SB/ICH)  204 . Audio adapter  216 , keyboard and mouse adapter  220 , modem  222 , read only memory (ROM)  224 , universal serial bus (USB) and other ports  232 , and PCI/PCIe devices  234  are coupled to South Bridge and I/O controller hub  204  through bus  238 . Hard disk drive (HDD) or solid-state drive (SSD)  226  and CD-ROM  230  are coupled to South Bridge and I/O controller hub  204  through bus  240 . PCI/PCIe devices  234  may include, for example, Ethernet adapters, add-in cards, and PC cards for notebook computers. PCI uses a card bus controller, while PCIe does not. ROM  224  may be, for example, a flash binary input/output system (BIOS). Hard disk drive  226  and CD-ROM  230  may use, for example, an integrated drive electronics (IDE), serial advanced technology attachment (SATA) interface, or variants such as external-SATA (eSATA) and micro-SATA (mSATA). A super I/O (SIO) device  236  may be coupled to South Bridge and I/O controller hub (SB/ICH)  204  through bus  238 . 
     Memories, such as main memory  208 , ROM  224 , or flash memory (not shown), are some examples of computer usable storage devices. Hard disk drive or solid state drive  226 , CD-ROM  230 , and other similarly usable devices are some examples of computer usable storage devices including a computer usable storage medium. 
     An operating system runs on processing unit  206 . The operating system coordinates and provides control of various components within data processing system  200  in  FIG.  2   . The operating system may be a commercially available operating system for any type of computing platform, including but not limited to server systems, personal computers, and mobile devices. An object oriented or other type of programming system may operate in conjunction with the operating system and provide calls to the operating system from programs or applications executing on data processing system  200 . 
     Instructions for the operating system, the object-oriented programming system, and applications or programs, such as application  105  in  FIG.  1   , are located on storage devices, such as in the form of code  226 A on hard disk drive  226 , and may be loaded into at least one of one or more memories, such as main memory  208 , for execution by processing unit  206 . The processes of the illustrative embodiments may be performed by processing unit  206  using computer implemented instructions, which may be located in a memory, such as, for example, main memory  208 , read only memory  224 , or in one or more peripheral devices. 
     Furthermore, in one case, code  226 A may be downloaded over network  201 A from remote system  201 B, where similar code  201 C is stored on a storage device  201 D. in another case, code  226 A may be downloaded over network  201 A to remote system  201 B, where downloaded code  201 C is stored on a storage device  201 D. 
     The hardware in  FIGS.  1 - 2    may vary depending on the implementation. Other internal hardware or peripheral devices, such as flash memory, equivalent non-volatile memory, or optical disk drives and the like, may be used in addition to or in place of the hardware depicted in  FIGS.  1 - 2   . In addition, the processes of the illustrative embodiments may be applied to a multiprocessor data processing system. 
     In some illustrative examples, data processing system  200  may be a personal digital assistant (PDA), which is generally configured with flash memory to provide non-volatile memory for storing operating system files and/or user-generated data. A bus system may comprise one or more buses, such as a system bus, an I/O bus, and a PCI bus. Of course, the bus system may be implemented using any type of communications fabric or architecture that provides for a transfer of data between different components or devices attached to the fabric or architecture. 
     A communications unit may include one or more devices used to transmit and receive data, such as a modem or a network adapter. A memory may be, for example, main memory  208  or a cache, such as the cache found in North Bridge and memory controller hub  202 . A processing unit may include one or more processors or CPUs. 
     The depicted examples in  FIGS.  1 - 2    and above-described examples are not meant to imply architectural limitations. For example, data processing system  200  also may be a tablet computer, laptop computer, or telephone device in addition to taking the form of a mobile or wearable device. 
     Where a computer or data processing system is described as a virtual machine, a virtual device, or a virtual component, the virtual machine, virtual device, or the virtual component operates in the manner of data processing system  200  using virtualized manifestation of some or all components depicted in data processing system  200 . For example, in a virtual machine, virtual device, or virtual component, processing unit  206  is manifested as a virtualized instance of all or some number of hardware processing units  206  available in a host data processing system, main memory  208  is manifested as a virtualized instance of all or some portion of main memory  208  that may be available in the host data processing system, and disk  226  is manifested as a virtualized instance of all or some portion of disk  226  that may be available in the host data processing system. The host data processing system in such cases is represented by data processing system  200 . 
     With reference to  FIG.  3   , this figure depicts a block diagram of an example configuration for vehicle mass measurement for automated braking in accordance with an illustrative embodiment. Application  300  is an example of application  105  in  FIG.  1    and executes in any of servers  104  and  106 , clients  110 ,  112 , and  114 , device  132 , and vehicle  142  in  FIG.  1   . 
     Application  300  receives data from which to derive a linear relationship. In particular, the data comprises pairs of values, in which one element of each pair corresponds to an x coordinate and the other element of each pair corresponds to a y coordinate. Thus, each pair of values comprises a point in a two-dimensional graph, and application  300  will find a line connecting the points, with a slope corresponding to a variable being modelled. One implementation of application  300  receives acceleration and corresponding force data from which a mass of the vehicle (e.g. vehicle  142  in  FIG.  1   ) is to be computed. 
     Data filtering module  310  filters the point data to remove one or more outliers. 
     Ray construction module  320  selects an origin point within the filtered point data, and construct a set of scattered rays by connecting each data point to the selected origin point. The origin point is a point with an x coordinate equal to zero and a y coordinate equal to zero. Each ray has a slope corresponding to a variable being modelled. 
     Ray filtering module  330  filters the set of ray slopes to remove one or more outliers. One implementation of module  330  constructs a histogram of the number of occurrences of different values of ray slopes, filters the histogram by quantile to remove outliers in the set of ray slopes, and smooths the filtered histogram, reducing the influence of high-density outliers on eventual model results. One implementation uses a Savitzky-Golay, or Savgol, filter, to perform the smoothing. 
     Trigonometric function mapping module  340  maps the filtered and smoothed set of ray slopes to a corresponding set of trigonometric functions. In particular, if each ray slope is denoted by m, module  340  computes the arctangent of m divided by a predefined parameter. 
     Parameter optimization module  350  uses an optimization method to optimize the predefined parameter to produce as significant a function peak as possible. One implementation of module  350  uses a Bayesian optimization to optimize the predefined parameter. Module  350  maps the optimized trigonometric function back to its original domain. In particular, if the trigonometric function computed the arctangent of m divided by a predefined parameter, module  350  computes m=p multiplied by the tangent of the peak value, where m denotes a slope value within a linear relationship and p denotes the optimized parameter. 
     Model quality optimization module  360  evaluates the model quality. One implementation of module  360  evaluates model quality by repeating the data collection and processing one or more times, optionally under different working conditions, obtaining multiple slope values. When further repeats of the data collection and processing fail to alter an area under the peak in a graph of the optimized trigonometric function by more than a threshold amount, module  350  computes m=p multiplied by the tangent of the peak value in that graph. 
     Application  300 , implemented in a vehicle, uses the model to compute the vehicle&#39;s current mass from current acceleration and corresponding force data, and uses the computed mass to configure the vehicle&#39;s automated braking system, collision avoidance system, or trailer brake controller. Another implementation of application  300  implemented in a vehicle uses the computed mass in performing range calculations for an electric vehicle, and in other AV control applications. Another implementation of application  300  implemented in a vehicle uses the computed mass in computing other vehicle performance parameters, for example the aerodynamic characteristics and hence fuel consumption rate of an aircraft and the performance characteristics and hence fuel consumption or optimal sail configuration of a boat. 
     With reference to  FIG.  4   , this figure depicts an example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment. The example can be executed using application  300  in  FIG.  3   . Data filtering module  310  and ray construction module  320  are the same as data filtering module  310  and ray construction module  320  in  FIG.  3   . Note that the depicted graphs are schematic depictions of generic data, and are not intended to depict a real set of data or be numerically accurate. 
     As depicted, data filtering module  310  receives observed force and acceleration data  410  and filters data  410  to remove one or more outliers. The result is depicted as filtered force and acceleration data  420 . Ray construction module  320  selects an origin point within data  420 , and construct a set of scattered rays by connecting each data point to the selected origin point. The result is depicted as rays  430 . 
     With reference to  FIG.  5   , this figure depicts a continued example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment. Note that the depicted graphs are schematic depictions of generic data, and are not intended to depict a real set of data or be numerically accurate. 
     Ray slope frequency bar chart  510  depicts a bar chart of the ray slopes in rays  430  in  FIG.  4   . Ray filtering module  330  filters the set of ray slopes to remove one or more outliers, resulting in filtered ray slope frequency bar chart  520 . Module  330  also smooths the filtered set of ray slopes to reduce the influence of high-density outliers on eventual model results, resulting in sampled frequency bar chart  530 . 
     With reference to  FIG.  6   , this figure depicts a continued example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment. Trigonometric function mapping module  340  is the same as trigonometric function mapping module  340  in  FIG.  3   . Sampled frequency bar chart  530  is the same as sampled frequency bar chart  530  in  FIG.  5   . Note that the depicted graphs are schematic depictions of generic data, and are not intended to depict a real set of data or be numerically accurate. 
     As depicted, trigonometric function mapping module  340  maps the filtered and smoothed set of ray slopes, depicted in sampled frequency bar chart  530 , to a corresponding set of trigonometric functions, depicted in trigonometric mapping  610 . 
     With reference to  FIG.  7   , this figure depicts a continued example of vehicle mass measurement for automated braking in accordance with an illustrative embodiment. Note that the depicted graphs are schematic depictions of generic data, and are not intended to depict a real set of data or be numerically accurate. 
     Optimization  710  depicts steps in the optimization of trigonometric mapping  610  in  FIG.  6   . In particular, if the trigonometric function computed the arctangent of m divided by a predefined parameter, after optimization parameter optimization module  350  computes m=p multiplied by the tangent of the peak value, where m denotes a slope value within linear relationship  720  and p denotes the optimized parameter. 
     With reference to  FIG.  8   , this figure depicts a flowchart of an example process for vehicle mass measurement for automated braking in accordance with an illustrative embodiment. Process  800  can be implemented in application  300  in  FIG.  3   . 
     In block  802 , the application filters a received set of point data to remove outliers. In block  804 , the application constructs a set of scattered rays from the filtered point data by selecting an origin point within the point data and connecting each data point to the origin point. In block  806 , the application filters and smooths the set of ray slopes. In block  808 , the application maps the set of ray slopes to a corresponding set of trigonometric functions. In block  810 , the application selects, using an optimization method, an optimal trigonometric function parameter. In block  812 , the application evaluates model quality. In block  814 , the application uses the model to measure vehicle mass. In block  816 , the application brakes the vehicle using a vehicle collision avoidance system configured according to the measured vehicle mass. Then the application ends. 
     Referring now to  FIG.  9   , illustrative cloud computing environment  50  is depicted. As shown, cloud computing environment  50  includes one or more cloud computing nodes  10  with which local computing devices used by cloud consumers, such as, for example, personal digital assistant (PDA) or cellular telephone  54 A, desktop computer  54 B, laptop computer  54 C, and/or automobile computer system  54 N may communicate. Nodes  10  may communicate with one another. They may be grouped (not shown) physically or virtually, in one or more networks, such as Private, Community, Public, or Hybrid clouds as described hereinabove, or a combination thereof. This allows cloud computing environment  50  to offer infrastructure, platforms and/or software as services for which a cloud consumer does not need to maintain resources on a local computing device. It is understood that the types of computing devices  54 A-N depicted are intended to be illustrative only and that computing nodes  10  and cloud computing environment  50  can communicate with any type of computerized device over any type of network and/or network addressable connection (e.g., using a web browser). 
     Referring now to  FIG.  10   , a set of functional abstraction layers provided by cloud computing environment  50  ( FIG.  9   ) is shown. It should be understood in advance that the components, layers, and functions depicted are intended to be illustrative only and embodiments of the invention are not limited thereto. As depicted, the following layers and corresponding functions are provided: 
     Hardware and software layer  60  includes hardware and software components. Examples of hardware components include: mainframes  61 ; RISC (Reduced Instruction Set Computer) architecture based servers  62 ; servers  63 ; blade servers  64 ; storage devices  65 ; and networks and networking components  66 . In some embodiments, software components include network application server software  67  and database software  68 . 
     Virtualization layer  70  provides an abstraction layer from which the following examples of virtual entities may be provided: virtual servers  71 ; virtual storage  72 ; virtual networks  73 , including virtual private networks; virtual applications and operating systems  74 ; and virtual clients  75 . 
     In one example, management layer  80  may provide the functions described below. Resource provisioning  81  provides dynamic procurement of computing resources and other resources that are utilized to perform tasks within the cloud computing environment. Metering and Pricing  82  provide cost tracking as resources are utilized within the cloud computing environment, and billing or invoicing for consumption of these resources. In one example, these resources may include application software licenses. Security provides identity verification for cloud consumers and tasks, as well as protection for data and other resources. User portal  83  provides access to the cloud computing environment for consumers and system administrators. Service level management  84  provides cloud computing resource allocation and management such that required service levels are met. Service Level Agreement (SLA) planning and fulfillment  85  provide pre-arrangement for, and procurement of, cloud computing resources for which a future requirement is anticipated in accordance with an SLA. 
     Workloads layer  90  provides examples of functionality for which the cloud computing environment may be utilized. Examples of workloads and functions which may be provided from this layer include: mapping and navigation  91 ; software development and lifecycle management  92 ; virtual classroom education delivery  93 ; data analytics processing  94 ; transaction processing  95 ; and application selection based on cumulative vulnerability risk assessment  96 . 
     Thus, a computer implemented method, system or apparatus, and computer program product are provided in the illustrative embodiments for vehicle mass measurement for automated braking and other related features, functions, or operations. Where an embodiment or a portion thereof is described with respect to a type of device, the computer implemented method, system or apparatus, the computer program product, or a portion thereof, are adapted or configured for use with a suitable and comparable manifestation of that type of device. 
     Where an embodiment is described as implemented in an application, the delivery of the application in a Software as a Service (SaaS) model is contemplated within the scope of the illustrative embodiments. In a SaaS model, the capability of the application implementing an embodiment is provided to a user by executing the application in a cloud infrastructure. The user can access the application using a variety of client devices through a thin client interface such as a web browser (e.g., web-based e-mail), or other light-weight client-applications. The user does not manage or control the underlying cloud infrastructure including the network, servers, operating systems, or the storage of the cloud infrastructure. In some cases, the user may not even manage or control the capabilities of the SaaS application. In some other cases, the SaaS implementation of the application may permit a possible exception of limited user-specific application configuration settings. 
     The present invention may be a system, a method, and/or a computer program product at any possible technical detail level of integration. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention. 
     The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire. 
     Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device. 
     Computer readable program instructions for carrying out operations of the present invention may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++, or the like, and procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user&#39;s computer, partly on the user&#39;s computer, as a stand-alone software package, partly on the user&#39;s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user&#39;s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention. 
     Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions. 
     These computer readable program instructions may be provided to a processor of a computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks. 
     The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the Figures. For example, two blocks shown in succession may, in fact, be accomplished as one step, executed concurrently, substantially concurrently, in a partially or wholly temporally overlapping manner, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.