Configuring motion planning for a self-driving tractor unit
AssigneeUatc, LLC
InventorsMatthew Shaw Wood, Nancy Yung-Hui Sun, Zachias Rauch Vawter
Life of this patent
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Abstract
A control system of a self-driving tractor can access sensor data to determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor. Based on the set of trailer configuration parameters, the control system can configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems of the tractor.
Claims20
A control system comprising one or more processors configured to execute instructions to cause the control system to:
- access a motion planning model for autonomously operating the self-driving tractor;
- obtain a set of trailer parameters of a cargo trailer coupled to a self-driving tractor;
- modify the motion planning model for autonomously operating the self-driving tractor based on the set of trailer parameters;
- generate one or more trajectories for the self-driving tractor based on the motion planning model;
- and
- generate one or more control commands for at least one vehicle control mechanism of the self-driving tractor based on the one or more trajectories.
A self-driving tractor for a semi-trailer truck, comprising:
- a plurality of control mechanisms;
- and
- a control system comprising processing resources executing instructions that cause the control system to:
- access a motion planning model for autonomously operating the self-driving tractor;
- obtain a set of trailer parameters of a cargo trailer coupled to the self-driving tractor;
- modify the motion planning model for autonomously operating the self-driving tractor based on the set of trailer parameters;
- generate one or more trajectories for the self-driving tractor based on the motion planning model;
- and
- generate one or more control commands for at least one of the plurality of control mechanisms based on the one or more trajectories.
A computer implemented method for controlling a self-driving tractor, the method comprising:
- accessing a motion planning model for autonomously operating the self-driving tractor;
- obtaining a set of trailer parameters of a cargo trailer coupled to the self-driving tractor;
- modifying the motion planning model for autonomously operating the self-driving tractor based on the set of trailer parameters;
- generating one or more trajectories for the self-driving tractor based on the motion planning model;
- and
- generating one or more control commands for at least one of the plurality of control mechanisms based on the one or more trajectories, the one or more control commands configured to cause a movement of the self-driving tractor.
Dependencies are inferred from the claim text.