US Patent 10279815 Vehicle controls based on the measured weight of freight

A vehicle can include throttle, braking, and steering systems. The vehicle can further include a computing system that obtains, from one or more sensors, data representing one or more of a velocity or an acceleration of the vehicle. The computing system can further determine an estimated weight of the vehicle based on the one or more of the velocity or the acceleration of the vehicle, and autonomously operate the throttle, braking, and steering systems of the vehicle based on the estimated weight of the vehicle.