US 12,269,502 B2
Systems and techniques for simulating movement of articulated vehicles
Jason Edward Foat, San Diego, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Aug. 15, 2022, as Appl. No. 17/887,905.
Prior Publication US 2024/0051570 A1, Feb. 15, 2024
Int. Cl. B60W 60/00 (2020.01); B62D 13/00 (2006.01)
CPC B60W 60/001 (2020.02) [B62D 13/005 (2013.01); B60W 2520/12 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
generating a simulation environment for an autonomous vehicle, wherein the simulation environment includes at least one articulated vehicle that includes a tractor coupled to a first trailer using a first pivot joint;
determining a first velocity of the first pivot joint based on a first simulated movement associated with the tractor;
determining a second simulated movement associated with the first trailer based on the first velocity of the first pivot joint and a first distance between the first pivot joint and a first point on the first trailer, wherein the at least one articulated vehicle includes a second trailer that is coupled to the first trailer using a second pivot joint;
determining a second velocity of the second pivot joint based on the second simulated movement associated with the first trailer; and
determining a third simulated movement associated with the second trailer based on the second velocity of the second pivot joint and a second distance between the second pivot joint and a second point on the second trailer.