US 12,405,384 B2
Systems and methods for determining an articulated trailer angle
Jonathan Record, Brighton, CO (US); Robert Grabbe, Brighton, CO (US); Lawrence Klein, Bend, OR (US); and Floyd Henning, Arvada, CO (US)
Assigned to Outrider Technologies, Inc., Brighton, CO (US)
Filed by Outrider Technologies, Inc., Brighton, CO (US)
Filed on Mar. 8, 2024, as Appl. No. 18/599,915.
Application 18/599,915 is a continuation of application No. 17/848,188, filed on Jun. 23, 2022, granted, now 11,927,676.
Claims priority of provisional application 63/327,723, filed on Apr. 5, 2022.
Claims priority of provisional application 63/214,227, filed on Jun. 23, 2021.
Prior Publication US 2024/0219575 A1, Jul. 4, 2024
Int. Cl. G01S 17/931 (2020.01); B60R 1/00 (2022.01); B60W 60/00 (2020.01); B62D 53/08 (2006.01); G01B 11/26 (2006.01); G01D 5/26 (2006.01)
CPC G01S 17/931 (2020.01) [B60R 1/003 (2013.01); G01B 11/26 (2013.01); G01D 5/264 (2013.01); B60R 2300/105 (2013.01); B60W 60/00 (2020.02); B60W 2300/145 (2013.01); B62D 53/0842 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for determining a LIDAR-based angle between an autonomous tractor and a trailer that are coupled together, comprising:
capturing, within a controller of the tractor, a point cloud using a rear facing LIDAR positioned on the tractor;
converting points of the point cloud corresponding to front corners of the trailer to coordinate form; and
calculating the LIDAR-based angle between the tractor and the trailer based upon the coordinates of the front corners of the trailer.