US 11,878,721 B2
Systems and methods for automatically updating a model of vehicle turning dynamics
Stan Delizo, Lynwood, WA (US); Ted Scherzinger, Sammamish, WA (US); Yen-Lin Han, Seattle, WA (US); Austin Chong, Fremont, CA (US); Christian Heussy, Seattle, WA (US); Caroline Hofgaard, Duvall, WA (US); Oleksiy Khomenko, Spokane, WA (US); Pauline Shammami, Seattle, WA (US); and Kirstin Schauble, Meadow Vista, CA (US)
Assigned to PACCAR Inc., Bellevue, WA (US)
Appl. No. 17/277,100
Filed by PACCAR INC, Bellevue, WA (US)
PCT Filed Jun. 1, 2018, PCT No. PCT/US2018/035733
§ 371(c)(1), (2) Date Mar. 17, 2021,
PCT Pub. No. WO2019/231473, PCT Pub. Date Dec. 5, 2019.
Prior Publication US 2021/0394796 A1, Dec. 23, 2021
Int. Cl. B60W 60/00 (2020.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01); B60D 1/36 (2006.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01)
CPC B60W 60/0025 (2020.02) [B60D 1/36 (2013.01); B60W 30/18036 (2013.01); B60W 50/0098 (2013.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01); B60W 2050/0031 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2420/54 (2013.01); B60W 2520/06 (2013.01); B60W 2520/28 (2013.01); B60W 2530/201 (2020.02); G06T 2207/30252 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of using and updating a model that represents turning dynamics of a vehicle, the method comprising:
detecting, by an electronic control unit (ECU) of the vehicle, an initial location and orientation of the vehicle with respect to an object outside the vehicle;
receiving, by the ECU, vehicle state information from one or more vehicle state sensors; detecting, by the ECU, a new location and orientation of the vehicle with respect to the object;
updating, by the ECU, the model using the initial location and orientation, the new location and orientation, and the vehicle state information, wherein updating the model includes updating one or more of a wheelbase length, an axle track width, a scrub radius, and a maximum steer angle;
using, by the ECU, the model to determine a path for the vehicle to a target location;
using, by the ECU, the model to determine one or more control commands to cause the vehicle to traverse the path to the target location, and
transmitting, by the ECU, the one or more control commands to cause the vehicle to autonomously traverse the path to the target location.