Abstract: Systems and methods for estimating values of dynamic attributes of autonomous vehicles are disclosed. A first vehicle includes an inertial measurement unit (IMU) configured to measure a dynamic attribute (e.g., rate of change of vehicle yaw angle) and correlate the measured attribute with one or more input variables (e.g., values of steering angle commands). The correlated data is used to generate a model that can be used in a second vehicle to predict a dynamic attribute based at least in part on variable values input from the second vehicle. As a result, it is not necessary for the second vehicle to have an IMU.

Abstract: Injector drift for a diesel engine are detected by reconfiguration of injection patterns from one pattern into a pattern with a different number of pulse points while attempting to hold total fuel injected constant. If a particular injector is subject to drift then changes in the pulse pattern result in an increase or decrease in fuel injected and consequential variations in engine speed. By applying alternating injection patterns at constant fuel demand and allowing engine speed time to stabilize, a rhythmic variation in engine speed/torque will appear which can be detected using one of a number of techniques.

Abstract: Injector drift for a diesel engine are detected by reconfiguration of injection patterns from one pattern into a pattern with a different number of pulse points while attempting to hold total fuel injected constant. If a particular injector is subject to drift then changes in the pulse pattern result in an increase or decrease in fuel injected and consequential variations in engine speed. By applying alternating injection patterns at constant fuel demand and allowing engine speed time to stabilize, a rhythmic variation in engine speed/torque will appear which can be detected using one of a number of techniques.