US 11,745,726 B2
Estimating angle of a vehicle wheel based on non-steering variables
Michael Carsten Bosse, Cupertino, CA (US); and Brice Rebsamen, San Jose, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jun. 30, 2021, as Appl. No. 17/364,161.
Prior Publication US 2023/0001915 A1, Jan. 5, 2023
Int. Cl. B60W 30/045 (2012.01); B62D 15/02 (2006.01)
CPC B60W 30/045 (2013.01) [B62D 15/025 (2013.01); B60W 2510/205 (2013.01); B60W 2520/14 (2013.01); B60W 2520/26 (2013.01); B60W 2520/28 (2013.01); B60W 2530/201 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
determining a trajectory for a vehicle to follow to navigate a turn maneuver, the trajectory comprising a commanded angle of a wheel of the vehicle, wherein the turn maneuver comprises a turn center;
determining, based at least in part on first sensor data from a first sensor, a yaw rate of the vehicle during the turn maneuver;
determining, based at least in part on second sensor data associated with a second sensor, a linear velocity of the vehicle at the wheel of the vehicle during the turn maneuver;
determining, based at least in part on the yaw rate, the linear velocity, and an offset distance, an estimated angle of the wheel, the offset distance defining a distance which extends from the wheel and to a position aligned with the turn center;
determining a difference between the commanded angle of the wheel and the estimated angle of the wheel exceeds a threshold difference; and
controlling an operation of the vehicle based at least in part on determining the difference between the commanded angle of the wheel and the estimated angle of the wheel exceeds the threshold difference.