US 12,246,751 B1
Trajectory modification based on wind compensation
Kazuhide Okamoto, San Mateo, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Apr. 26, 2021, as Appl. No. 17/240,365.
Int. Cl. B60W 60/00 (2020.01); B60W 10/22 (2006.01); B60W 30/06 (2006.01); B60W 40/02 (2006.01); G05D 1/00 (2006.01)
CPC B60W 60/00182 (2020.02) [B60W 10/22 (2013.01); B60W 30/06 (2013.01); B60W 40/02 (2013.01); B60W 60/0023 (2020.02); G05D 1/0088 (2013.01); G05D 1/0217 (2013.01); G05D 1/0255 (2013.01); B60W 2420/54 (2013.01); B60W 2555/20 (2020.02); B60W 2710/223 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving wind data indicative of a wind velocity in an environment associated with an autonomous vehicle;
determining, based at least in part on the wind data and a body motion of the autonomous vehicle, a roll angle of the autonomous vehicle;
determining, based at least in part on the wind data and the roll angle, vehicle configuration data, wherein the vehicle configuration data comprises:
an amount of crab steering angle of the autonomous vehicle;
a first stiffness setting of a first suspension component associated with an upwind side of the autonomous vehicle; and
a second stiffness setting of a second suspension component associated with a downwind side of the autonomous vehicle, the first stiffness setting having a lower stiffness than the second stiffness setting;
a trajectory for a bidirectional maneuver or parallel parking maneuver associated with a parking location:
determining control data based at least in part on the vehicle configuration data; and
controlling the autonomous vehicle based at least in part on the control data.