| CPC G05D 1/0214 (2013.01) [B62D 7/144 (2013.01); B62D 7/1509 (2013.01); G05D 1/0088 (2013.01)] | 20 Claims |
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1. A vehicle configured to operate in an autonomous driving mode, comprising:
a driving system including a steering subsystem, an acceleration subsystem and a deceleration subsystem to control driving of the vehicle in the autonomous driving mode;
a plurality of wheels each configured for independent actuation by the driving system relative to one or more other ones of the plurality of wheels;
a perception system including one or more sensors configured to detect objects in an environment surrounding the vehicle, each of the one or more sensors being positioned along the vehicle; and
a control system operatively connected to the driving system and the perception system, the control system having one or more computer processors configured to:
receive sensor data from the perception system;
determine a road condition based upon the received sensor data;
identify selected ones of the plurality of wheels to independently actuate in order to address the road condition; and
cause actuation of the selected ones of the plurality of wheels independently of one another to adjust a height of at least a portion of the vehicle when operating in the autonomous driving mode to address the road condition.
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