US 12,291,200 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 Nov. 16, 2023, as Appl. No. 18/510,790.
Application 18/510,790 is a continuation of application No. 17/689,451, filed on Mar. 8, 2022, granted, now 11,851,055.
Application 17/689,451 is a continuation of application No. 16/790,818, filed on Feb. 14, 2020, granted, now 11,299,150, issued on Apr. 12, 2022.
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 2024/0083425 A1, Mar. 14, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/095 (2012.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); G01S 13/931 (2020.01); G01S 15/931 (2020.01); G01S 17/931 (2020.01); G06V 10/25 (2022.01); G06V 20/58 (2022.01); G08G 1/16 (2006.01)
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); G06V 10/25 (2022.01); G06V 20/58 (2022.01); G08G 1/166 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by one or more processors of an autonomous vehicle, sensor data including information identifying an object in an environment of the autonomous vehicle and sensor data corresponding to the object;
analyzing, by the one or more processors, sensor data points of an area corresponding to an expected location of a front wheel of the object in order to estimate an angle corresponding to an orientation of the front wheel of the object; and
controlling, by the one or more processors, the autonomous vehicle based on the orientation.