US 11,938,998 B2
Combination vehicle system and/or method
Ian C. Rust, San Francisco, CA (US); Ding Jin, San Francisco, CA (US); and Shaochun Ye, San Francisco, CA (US)
Assigned to Anamnesis Corporation, San Francisco, CA (US)
Filed by Anamnesis Corporation, San Francisco, CA (US)
Filed on Jul. 26, 2023, as Appl. No. 18/226,702.
Claims priority of provisional application 63/392,332, filed on Jul. 26, 2022.
Prior Publication US 2024/0034405 A1, Feb. 1, 2024
Int. Cl. B62D 13/06 (2006.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01)
CPC B62D 13/06 (2013.01) [B62D 6/003 (2013.01); B62D 15/023 (2013.01); B62D 15/025 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for reversal of a multi-pivot, combination vehicle comprising:
collecting a set of inputs with a sensor suite of a vehicle system, the vehicle system comprising: a chassis, a steering axle mounted to the chassis, a kingpin configured to couple the chassis to a fifth wheel of a semi-tractor, and a secondary fifth wheel configured to couple the chassis to a trailer;
at a computing system onboard the vehicle system, determining a vehicle state estimate based on the set of inputs, the vehicle state estimate comprising a fifth wheel angle and a steering angle of the steering axle; and
based on the vehicle state estimate and a target relationship between the vehicle system and the semi-tractor, autonomously controlling the steering axle during reversal of the vehicle system to adjust the steering angle of the vehicle system, wherein the steering axle control scheme is unified between forward and reverse operation.