Trajectory modification based on wind compensation

A method comprising:

• receiving wind data indicative of wind in an environment associated with a vehicle;
• determining, based on the wind data and a body motion of the vehicle, a roll angle of the vehicle;
• determining, based at least in part on the wind data and the roll angle of the vehicle, vehicle configuration data, the vehicle configuration data comprising:
• an amount of crab steering angle of the vehicle;
• a first stiffness setting of a first suspension component associated with an upwind side of the vehicle;
• and
• a second stiffness setting of second suspension component associated with a downwind side of the vehicle, the first stiffness setting having a lower stiffness than the second stiffness setting;
• a trajectory for a bidirectional maneuver or parallel parking maneuver associated with a parking location:
• determining control data based at least in part on the vehicle configuration data;
• and
• controlling the vehicle based at least in part on the control data.

One or more non-transitory computer-readable media storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform operations comprising:

• receiving wind data indicative of wind in an environment associated with a vehicle;
• determining, based on the wind data and a body motion of the vehicle, a roll angle of the vehicle;
• determining, based at least in part on the wind data and the roll angle of the vehicle, vehicle configuration data, the vehicle configuration data comprising:
• an amount of crab steering angle of the vehicle;
• a first stiffness setting of a first suspension component associated with an upwind side of the vehicle;
• and
• a second stiffness setting of second suspension component associated with a downwind side of the vehicle, the first stiffness setting having a lower stiffness than the second stiffness setting;
• a trajectory for a bidirectional maneuver or parallel parking maneuver associated with a location at a destination:
• determining control data based at least in part on the vehicle configuration data;
• and
• controlling the vehicle based at least in part on the control data.