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US 11,453,387 B1Granted
Surface characterization with active suspension
AssigneeZoox, Inc.
InventorsJohannes Andreas Huennekens, David Martins Belo, Johannes Edren
Life of this patent
Estimating the term…
Abstract
A surface characterization system includes an active suspension a system with a wheel controller to control a first and second wheel of a vehicle where the active suspension causes a difference in loading between the first and second wheel. The wheel controller may cause the first wheel to slow and receive a signal indicative of a change of state of the vehicle. The wheel controller may cause the second wheel to oppose the change of state caused by the first wheel. The surface characterization system may estimate tire-surface parameterization data associated with the first tire and a surface upon which the vehicle is located.
Claims20
A system comprising:
- a wheel controller configured to:
- control a first wheel of a vehicle associated with a first tire according to a first wheel parameter and a second wheel of the vehicle associated with a second tire according to a second wheel parameter, the first wheel parameter or second wheel parameter comprising at least one of:
- a wheel loading, an amount of torque, or an amount of brake to apply to at least one of the first or the second wheel;
- alter, based at least in part on supplying torque to the second wheel, a first wheel loading associated with the first wheel relative to a second wheel loading associated with the second wheel such that a difference between the first wheel loading and the second wheel loading meets or exceeds a wheel loading difference threshold;
- induce a change of the first wheel parameter associated with the first wheel;
- receive a signal indicative of a change of state of the vehicle, the change of state comprising at least one of a direction of travel of the vehicle, a speed of the vehicle, a wheel slip, a steering angle of the vehicle, or an instability of the vehicle;
- and
- based at least in part on the signal, estimate tire-surface parameterization data associated with the first tire and a surface upon which the vehicle is located.
5 more elements
A method comprising:
- controlling a first wheel parameter associated with a first wheel and a second wheel parameter associated with a second wheel of a vehicle, the first wheel parameter or second wheel parameter comprising at least one of:
- a wheel loading, an amount of torque, or an amount of brake to apply to at least one of the first wheel or the second wheel;
- altering, based at least in part on supplying torque to the second wheel, a first wheel loading associated with the first wheel relative to a second wheel loading associated with the second wheel such that a difference between the first and second wheel loadings meets or exceeds a wheel loading difference threshold;
- inducing a change of a wheel parameter associated with the first wheel;
- receiving a signal indicative of a change of state of the vehicle, the change of state comprising at least one of a direction of travel of the vehicle, a speed of the vehicle, a wheel slip, a steering angle of the vehicle, or an instability of the vehicle;
- and
- based at least in part on the signal, estimating tire-surface parameterization data associated with the first wheel and a surface upon which the vehicle is located.
4 more elements
A vehicle comprising:
- a chassis comprising a first end and a second end opposite the first end;
- a first tire coupled proximate to the first end of the chassis;
- a second tire coupled proximate to one of the first end of the chassis or the second end of the chassis;
- a first motor coupled to the first tire and configured to supply rotational torque to the first tire to control rotation of the first tire;
- a motor coupled to the second tire and configured to supply rotational torque to the second tire to control rotation of the second tire;
- one or more processors;
- and
- one or more non-transitory computer readable media having instructions stored thereon, wherein the instructions, when executed by the one or more processors cause the one or more processors to perform operations comprising:
- reducing a first wheel loading associated with the first tire relative to a second wheel loading associated with the second tire to a wheel loading difference threshold;
- slowing rotation of the first tire;
- receiving a signal indicative of a speed of rotation of the first tire;
- causing the second tire to resist at least one of a change of speed or a change in direction of travel of the vehicle caused by the slowing rotation of the first tire by supplying torque to the second tire;
- and
- based at least in part on the signal, estimating tire-surface parameterization data associated with the first tire and a surface upon which the vehicle is located.
11 more elements
Dependencies are inferred from the claim text.