| CPC G05D 1/0214 (2013.01) [B60W 60/0015 (2020.02); G05B 13/0265 (2013.01); G05B 13/048 (2013.01); B60W 2552/05 (2020.02); B60W 2554/806 (2020.02); B60W 2720/24 (2013.01)] | 17 Claims |
|
1. A system for adjusting tire rotation of an autonomous vehicle (AV), the system comprising:
an AV navigation and planning system comprising one or more processors; and
a non-transitory computer-readable medium comprising instructions stored therein, which when executed by the one or more processors, cause the one or more processors to:
detect by the AV navigation and planning system an unprotected intersection from data collected by one or more AV sensors of an environment surrounding the AV, wherein the AV navigation and planning system plans to perform an unprotected maneuver;
determine, by the AV navigation and planning system, a first wheel safety angle that corresponds to a first wheel position in anticipation of the unprotected maneuver, wherein the first wheel safety angle is based on a topology of the unprotected intersection;
determine, by the AV navigation and planning system, from data collected by the one or more AV sensors of the environment surrounding the AV, that a collision likelihood exceeds a predetermined threshold, the predetermined threshold indicating an impending collision with another vehicle based on a set of parameters collected by the one or more AV sensors;
in response to the impending collision, determine a second wheel safety angle that corresponds to a second wheel position in anticipation of the impending collision, wherein the second wheel safety angle is configured to minimize damage to the AV due to the impending collision;
determine a third wheel safety angle based on the first wheel safety angle and the second wheel safety angle and is between the first wheel safety angle and the second wheel safety angle; and
adjust a wheel angle of the AV to the third wheel safety angle.
|