US 12,654,707 B1Granted

Dynamic wheel configuration adjustment based on environmental conditions

AssigneeZoox, Inc.

InventorsJohannes Edren, Ahditya Melkote, Joseph Whinnery

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Abstract

Systems and techniques for determining adverse traction conditions currently and/or likely to be being experienced by a vehicle and mitigating such conditions are described. Using sensor data, a vehicle computing device may determine an adverse traction conditions and various attributes of the condition. The vehicle computing device may adjust individual wheel configurations to address this condition, for example, by increasing or decreasing cross-corner wheels, rapidly and repeatedly increasing and decreasing particular wheels, and/or steering wheel individual to increase traction overall and/or reduce the speed of the vehicle (e.g., without using brakes). When normal traction conditions are recognized, the vehicle computing system may return the wheel suspension and steering configurations back to normal.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data associated with an environment from a plurality of sensor systems of a vehicle traversing an environment;
determining, based at least in part on the sensor data, an adverse traction condition associated with a surface in the environment on which the vehicle is predicted to traverse;
predicting, based at least in part on the adverse traction condition and a planned vehicle trajectory:
a first traction condition for a first wheel of a plurality of wheels configured at the vehicle, and
a second traction condition for a second wheel of the plurality of wheels, wherein the second traction condition is distinct from the first traction condition;
determining, based at least in part on a first traction condition, that the first wheel is associated with reduced traction;
based at least in part on determining the first wheel is associated with reduced traction:
reducing a first load at the first wheel;
reducing a second load at a third wheel of the plurality of wheels that is a cross-corner wheel relative to the first wheel;
increasing a third load at the second wheel;
and
increasing a fourth load at a fourth wheel of the plurality of wheels;
and
controlling the vehicle in the environment based at least in part on the planned vehicle trajectory.

14 more elements

One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, perform operations comprising:

receiving data captured by a sensor associated with a vehicle operating in an environment;
determining, based at least in part on the data, an adverse traction condition associated with a surface in the environment;
predicting, based at least in part on the data and the adverse traction condition:
a first traction condition for a first wheel of a plurality of wheels configured at the vehicle, and
a second traction condition for a second wheel of the plurality of wheels, wherein the second traction condition is distinct from the first traction condition;
implementing a first suspension configuration of the first wheel based at least in part on the first traction condition;
implementing a second suspension configuration of the second wheel based at least in part on the second traction condition, wherein the first suspension configuration is distinct from the second suspension configuration, wherein the first wheel is a cross corner wheel relative to the second wheel;
and
controlling the vehicle in the environment based at least in part on the first suspension configuration and the second suspension configuration.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/200,780Filed 23 May 2023
Granted: 16 Jun 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

B60W 30/18172
Propelling the vehicle: preventing, or responsive to skidding of wheels
B62D 6/006
Computing target steering angles for front or rear wheels: using a measured or estimated road friction coefficient
B62D 6/04
Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits: responsive…
B60W 2710/20
Output or target parameters relating to a particular sub-units: steering systems