Systems and techniques for simulating movement of articulated vehicles
AssigneeGM Cruise Holdings LLC
InventorJason Edward Foat
Life of this patent
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Abstract
Systems and techniques are provided for simulating movement of an articulated vehicle. An example method can include generating a simulation environment for an autonomous vehicle, wherein the simulation environment includes at least one articulated vehicle that includes a tractor coupled to a first trailer using a first pivot joint; determining a first velocity of the first pivot joint based on a first simulated movement associated with the tractor; and determining a second simulated movement associated with the first trailer based on the first velocity of the first pivot joint and a first distance between the first pivot joint and a first point on the first trailer.
Claims16
A method comprising:
- generating a simulation environment for an autonomous vehicle, wherein the simulation environment includes at least one articulated vehicle that includes a tractor coupled to a first trailer using a first pivot joint;
- determining a first velocity of the first pivot joint based on a first simulated movement associated with the tractor;
- determining a second simulated movement associated with the first trailer based on the first velocity of the first pivot joint and a first distance between the first pivot joint and a first point on the first trailer, wherein the at least one articulated vehicle includes a second trailer that is coupled to the first trailer using a second pivot joint;
- determining a second velocity of the second pivot joint based on the second simulated movement associated with the first trailer;
- and
- determining a third simulated movement associated with the second trailer based on the second velocity of the second pivot joint and a second distance between the second pivot joint and a second point on the second trailer.
An apparatus comprising:
- at least one memory comprising instructions;
- and
- at least one processor configured to execute the instructions and cause the apparatus to:
- generate a simulation environment for an autonomous vehicle, wherein the simulation environment includes at least one articulated vehicle that includes a tractor coupled to a first trailer using a first pivot joint;
- determine a first velocity of the first pivot joint based on a first simulated movement associated with the tractor;
- determine a second simulated movement associated with the first trailer based on the first velocity of the first pivot joint and a first distance between the first pivot joint and a first point on the first trailer, wherein the at least one articulated vehicle includes a second trailer that is coupled to the first trailer using a second pivot joint;
- determine a second velocity of the second pivot joint based on the second simulated movement associated with the first trailer;
- and
- determine a third simulated movement associated with the second trailer based on the second velocity of the second pivot joint and a second distance between the second pivot joint and a second point on the second trailer.
A non-transitory computer-readable storage medium having stored thereon instructions which, when executed by one or more processors, cause the one or more processors to:
- generate a simulation environment for an autonomous vehicle, wherein the simulation environment includes at least one articulated vehicle that includes a tractor coupled to a first trailer using a first pivot joint;
- determine a first velocity of the first pivot joint based on a first simulated movement associated with the tractor;
- and
- determine a second simulated movement associated with the first trailer based on the first velocity of the first pivot joint and a first distance between the first pivot joint and a first point on the first trailer, wherein the at least one articulated vehicle includes a second trailer that is coupled to the first trailer using a second pivot joint;
- determine a second velocity of the second pivot joint based on the second simulated movement associated with the first trailer;
- and
- determine a third simulated movement associated with the second trailer based on the second velocity of the second pivot joint and a second distance between the second pivot joint and a second point on the second trailer.
Dependencies are inferred from the claim text.