Configuring motion planning for a self-driving tractor unit
AssigneeUber Technologies, Inc.
InventorsMatthew Shaw Wood, Nancy Yung-Hui Sun, Zachias Rauch Vawter
Life of this patent
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Abstract
A control system of a self-driving tractor can access sensor data to determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor. Based on the set of trailer configuration parameters, the control system can configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems of the tractor.
Claims20
A self-driving tractor for a semi-trailer truck, comprising:
- acceleration, braking, and steering systems;
- one or more sensors mounted exterior to the self-driving tractor;
- and
- a control system comprising processing resources executing instructions that cause the control system to:
- based at least partially on sensor data from the one or more sensors, determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor;
- and
- based on the set of trailer configuration parameters, configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems.
A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
- based at least partially on sensor data from one or more sensors of a self-driving tractor, determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor;
- and
- based on the set of trailer configuration parameters, configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems.
A computer implemented method of configuring a motion planning model for a self-driving tractor, the method comprising:
- based at least partially on sensor data from one or more sensors of the self-driving tractor, determining a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor;
- and
- based on the set of trailer configuration parameters, modifying a motion planning model for autonomously controlling the acceleration, braking, and steering systems.
Dependencies are inferred from the claim text.