US 11,669,091 B2
Configuring motion planning for a self-driving tractor unit
Matthew Shaw Wood, Pittsburgh, PA (US); Nancy Yung-Hui Sun, Pittsburgh, PA (US); and Zachias Rauch Vawter, Pittsburgh, PA (US)
Assigned to UATC, LLC, Mountain View, CA (US)
Filed by UATC, LLC, Mountain View, CA (US)
Filed on Jun. 9, 2022, as Appl. No. 17/836,110.
Application 17/836,110 is a continuation of application No. 17/360,370, filed on Jun. 28, 2021, granted, now 11,385,644.
Application 17/360,370 is a continuation of application No. 15/678,984, filed on Aug. 16, 2017, granted, now 11,048,251, issued on Jun. 29, 2021.
Prior Publication US 2022/0299994 A1, Sep. 22, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); B60W 30/00 (2006.01); B62D 13/00 (2006.01); G05D 1/02 (2020.01); G06V 20/56 (2022.01)
CPC G05D 1/0088 (2013.01) [B60W 30/00 (2013.01); B62D 13/00 (2013.01); G05D 1/0246 (2013.01); G05D 1/0257 (2013.01); G05D 1/0276 (2013.01); G05D 2201/0213 (2013.01); G06T 2207/30252 (2013.01); G06V 20/588 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A control system comprising one or more processors configured to execute instructions to cause the control system to:
obtain a plurality of trailer parameters of a cargo trailer coupled to a self-driving tractor, wherein the plurality of trailer parameters are descriptive of a type of cargo within the cargo trailer;
generate a trajectory for the self-driving tractor based on the plurality of trailer parameters; and
generate a control command for at least one vehicle control mechanism of the self-driving tractor based on the trajectory.