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US 12,222,720 B2Granted
Dynamic tire rotation during collision
AssigneeGM Cruise Holdings LLC
InventorsJennifer Devar McKnew, Ryan Holben
Life of this patent
Estimating the term…
Abstract
The subject disclosure relates to features that improve safety for autonomous vehicle (AV) driving maneuvers. In some aspects, a process of the disclosed technology includes steps for detecting an unprotected maneuver, navigating an AV into an intersection, and detecting a wheel safety angle relative to the intersection. In some aspects, the process further includes steps for automatically adjusting a wheel angle of the AV based on the wheel safety angle. Systems and machine-readable media are also provided.
Claims17
A system for adjusting tire rotation of an autonomous vehicle (AV), the system comprising:
- an AV navigation and planning system comprising one or more processors;
- and
- a non-transitory computer-readable medium comprising instructions stored therein, which when executed by the one or more processors, cause the one or more processors to:
- detect by the AV navigation and planning system an unprotected intersection from data collected by one or more AV sensors of an environment surrounding the AV, wherein the AV navigation and planning system plans to perform an unprotected maneuver;
- determine, by the AV navigation and planning system, a first wheel safety angle that corresponds to a first wheel position in anticipation of the unprotected maneuver, wherein the first wheel safety angle is based on a topology of the unprotected intersection;
- determine, by the AV navigation and planning system, from data collected by the one or more AV sensors of the environment surrounding the AV, that a collision likelihood exceeds a predetermined threshold, the predetermined threshold indicating an impending collision with another vehicle based on a set of parameters collected by the one or more AV sensors;
- in response to the impending collision, determine a second wheel safety angle that corresponds to a second wheel position in anticipation of the impending collision, wherein the second wheel safety angle is configured to minimize damage to the AV due to the impending collision;
- determine a third wheel safety angle based on the first wheel safety angle and the second wheel safety angle and is between the first wheel safety angle and the second wheel safety angle;
- and
- adjust a wheel angle of the AV to the third wheel safety angle.
7 more elements
A computer-implemented method comprising:
- detecting, by a navigation and planning system of an autonomous vehicle (AV), an unprotected intersection from data collected by one or more AV sensors of an environment surrounding the AV, wherein the navigation and planning system plans to perform an unprotected maneuver;
- determining, by the navigation and planning system, a first wheel safety angle that corresponds to a first wheel position in anticipation of the unprotected maneuver, wherein the first wheel safety angle is based on a topology of the unprotected intersection;
- determining, by the navigation and planning system, from data collected by the one or more AV sensors of the environment surrounding the AV, that a collision likelihood exceeds a predetermined threshold, the predetermined threshold indicating an impending collision with another vehicle based on a set of parameters collected by the one or more AV sensors;
- in response to the impending collision, determining a second wheel safety angle that corresponds to a second wheel position in anticipation of the impending collision, wherein the second wheel safety angle is configured to minimize damage to the AV due to the impending collision;
- determining a third wheel safety angle based on the first wheel safety angle and the second wheel safety angle and is between the first wheel safety angle and the second wheel safety angle;
- and
- adjusting a wheel angle of the AV to the third wheel safety angle.
4 more elements
A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the one or more processors to:
- detecting, by a navigation and planning system of an autonomous vehicle (AV), an unprotected intersection from data collected by one or more AV sensors of an environment surrounding the AV, wherein the navigation and planning system plans to perform an unprotected maneuver;
- determining, by the navigation and planning system, a first wheel safety angle that corresponds to a first wheel position in anticipation of the unprotected maneuver, wherein the first wheel safety angle is based on a topology of the unprotected intersection;
- determining, by the navigation and planning system, from data collected by the one or more AV sensors of the environment surrounding the AV, that a collision likelihood exceeds a predetermined threshold, the predetermined threshold indicating an impending collision with another vehicle based on a set of parameters collected by the one or more AV sensors;
- in response to the impending collision, determining a second wheel safety angle that corresponds to a second wheel position in anticipation of the impending collision, wherein the second wheel safety angle is configured to minimize damage to the AV due to the impending collision;
- determining a third wheel safety angle based on the first wheel safety angle and the second wheel safety angle and is between the first wheel safety angle and the second wheel safety angle;
- and
- automatically adjusting a wheel angle of the AV to the third wheel safety angle.
4 more elements
Dependencies are inferred from the claim text.