Vehicle ride dynamics active comfort tuning system
AssigneeZoox, Inc.
InventorPrateek Chandresh Shah
Life of this patent
Estimating the term…
Abstract
A vehicle may include an active ride comfort tuning system that reactively and/or proactively alters a parameter of a system of the autonomous vehicle to mitigate or avoid interruptions to ride smoothness. For example, the comfort tuning system may alter a parameter of a drive system, suspension, and/or a trajectory cost function. The comfort tuning system may alter the parameter based at least in part on detecting and/or receiving a comfort indication, determined based on sensor data, user input, or the like.
Claims20
A vehicle comprising:
- one or more processors;
- and
- a memory storing processor-executable instructions that, when executed by the one or more processors, cause the vehicle to perform operations comprising:
- receiving sensor data;
- determining, by one or more subcomponents of the vehicle and based at least in part on the sensor data, a set of candidate actions;
- determining, based at least in part on the set of candidate actions and the sensor data, a trajectory for controlling the vehicle;
- receiving a comfort indication based at least in part on at least one of the sensor data, user input, or the trajectory, wherein the comfort indication is associated with an interruption to ride smoothness associated with operation of the vehicle;
- determining, based at least in part on the comfort indication, a subcomponent from among the one or more subcomponents that output a candidate action, which upon implementation by the vehicle, would result in an acceleration or deceleration that meets or exceeds a threshold;
- altering, based at least in part on the candidate action, a parameter of at least one of a planning component or a drive system of the vehicle to obtain an altered parameter, the altered parameter being configured to decrease an amount that output of the subcomponent influences trajectories generated by the vehicle;
- and
- controlling the vehicle based at least in part on the altered parameter.
A method comprising:
- receiving sensor data;
- determining, by one or more subcomponents of a vehicle and based at least in part on the sensor data, a set of candidate actions;
- determining, based at least in part on the set of candidate actions and the sensor data, a trajectory for controlling the vehicle;
- receiving a comfort indication, wherein the comfort indication is associated with an interruption to ride smoothness associated with operation of the vehicle;
- determining, based at least in part on the comfort indication, a subcomponent from among the one or more subcomponents that output a candidate action, which upon implementation by the vehicle, would result in an acceleration or deceleration that meets or exceeds a threshold;
- altering, based at least in part on the candidate action, a parameter of at least one of a planning component or a drive system of the vehicle to obtain an altered parameter;
- and
- controlling the vehicle based at least in part on the altered parameter.
A non-transitory computer-readable medium storing processor-executable instructions that, when executed by one or more processors, causes the one or more processors to perform operations comprising:
- receiving sensor data;
- determining, by one or more subcomponents of a vehicle and based at least in part on the sensor data, a set of candidate actions;
- determining, based at least in part on the set of candidate actions and the sensor data, a trajectory for controlling the vehicle;
- receiving a comfort indication, wherein the comfort indication is associated with an interruption to ride smoothness associated with operation of the vehicle;
- determining, based at least in part on the comfort indication, a subcomponent from among the one or more subcomponents that output a candidate action, which upon implementation by the vehicle, would result in an acceleration or deceleration that meets or exceeds a threshold;
- altering, based at least in part on the candidate action, a parameter of a trajectory generation and selection system of the vehicle to obtain an altered parameter;
- and
- controlling the vehicle based at least in part on the altered parameter.
Dependencies are inferred from the claim text.