US 11,851,055 B2
Using wheel orientation to determine future heading
Jens-Steffen Ralf Gutmann, Cupertino, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Mar. 8, 2022, as Appl. No. 17/689,451.
Application 17/689,451 is a continuation of application No. 16/790,818, filed on Feb. 14, 2020, granted, now 11,299,150.
Application 16/790,818 is a continuation of application No. 16/406,175, filed on May 8, 2019, granted, now 10,611,373, issued on Apr. 7, 2020.
Application 16/406,175 is a continuation of application No. 16/050,964, filed on Jul. 31, 2018, granted, now 10,336,325, issued on Jul. 2, 2019.
Application 16/050,964 is a continuation of application No. 15/429,275, filed on Feb. 10, 2017, granted, now 10,077,047, issued on Sep. 18, 2018.
Prior Publication US 2022/0212662 A1, Jul. 7, 2022
Int. Cl. B60W 30/095 (2012.01); G08G 1/16 (2006.01); B60W 40/04 (2006.01); G01S 15/931 (2020.01); G01S 13/931 (2020.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); G01S 17/931 (2020.01); G06V 10/25 (2022.01); G06V 20/58 (2022.01); G06F 18/00 (2023.01)
CPC B60W 30/0956 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 50/14 (2013.01); G01S 13/931 (2013.01); G01S 15/931 (2013.01); G01S 17/931 (2020.01); G06F 18/00 (2023.01); G06V 10/25 (2022.01); G06V 20/58 (2022.01); G08G 1/166 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A method comprising:
detecting, by one or more processors of a vehicle, an object in an environment of the vehicle;
estimating, by the one or more processors, a location of a three-dimensional (3D) area corresponding to an expected location of a wheel of the object;
controlling, by the one or more processors, the vehicle based on the estimated expected location of the 3D area.