# US 2022/0032913 A1 · Selection of environment sensors for autonomous vehicle maneuvering > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0032913 A1 - Document ID: US20220032913A1 - Status: Published application - Kind: A1 - Application number: 17/277,082 - Filed: 2018-06-01 - Published: 2022-02-03 - Earliest claimed: 2018-06-01 - Assignees: PACCAR Inc - Applicants: Paccar Inc - Inventors: Stan DELIZO; Ted SCHERZINGER; Yen-Lin HAN; Austin CHONG; Christian HEUSSY; Caroline HOFGAARD; Oleksiy KHOMENKO; Pauline SHAMMAMI; Kirstin SCHAUBLE - Web page: https://patentgrep.com/patent/US20220032913A1 ## CPC - B60D 1/62: involving supply lines, electric circuits or the like - B60W 30/18009: {related to particular drive situations} - B60D 1/36: for facilitating connection, e.g. hitch catchers - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60K 35/214: {Variable gauge scales, e.g. scale enlargement to adapt to maximum driving speed} - B60K 35/22: Display screens - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60K 35/60: Instruments characterised by their location or relative disposition in or on vehicles (arrangements of lighting devices on dashboards B60Q3/10) - B60K 35/80: Arrangements for controlling instruments - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B62D 15/0285: {Parking performed automatically} - B62D 53/08: Fifth wheel traction couplings {(tractors for handling trailers in terminals B62D49/007)} - G01S 17/931: of land vehicles - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - B60K 2360/173: Reversing assist - B60K 2360/176: Camera images - B60W 2300/12: Trucks; Load vehicles - B60W 2300/145: Semi-trailers - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - G06T 2207/20104: Interactive definition of region of interest [ROI] - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - B60D: VEHICLE CONNECTIONS - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A method of autonomously maneuvering a vehicle using environment sensors comprises calculating first coordinate data based on information received from environment sensors mounted on a first portion of the vehicle; determining, based on the first coordinate data, a first target at a first location; determining a path to maneuver the vehicle to the first location; determining and transmitting commands to autonomously control the vehicle to maneuver to the first location; calculating second coordinate data based on information received from environment sensors mounted on a second portion of the vehicle; determining based on the second coordinate data, a second target at a second location, determining a path to maneuver the vehicle from the first location to the second location; and determining and transmitting commands to autonomously control the vehicle to maneuver from the first location to the second location. Suitably configured vehicles (e.g., tractor units) are also described. ## Claims ### Claim 1 A method of autonomously maneuvering a vehicle using environment sensors, the method comprising: by an autonomous driving module of the vehicle: calculating first coordinate data based on information received from a first set of one or more environment sensors mounted on a first portion of the vehicle; determining, based at least in part on the first coordinate data, a first target at a first location; determining a path to maneuver the vehicle to the first location; determining first commands to components of the vehicle to autonomously control the vehicle to maneuver along the determined path to the first location, transmitting the first commands to the components of the vehicle; calculating second coordinate data based on information received from a second set of one or more environment sensors mounted on a second portion of the vehicle that differs from the first portion of the vehicle; determining based at least in part on the second coordinate data, a second target at a second location; determining a path to maneuver the vehicle from the first location to the second location; determining second commands to components of the vehicle to autonomously control the vehicle to maneuver along the determined path from the first location to the second location; and transmitting the second commands to the components of the vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein the second set of one or more environment sensors are mounted lower on the vehicle than the first set of one or more environment sensors. ### Claim 3 (depends on 1) The method of claim 1, wherein the first set of one or more environment sensors includes at least one range imaging sensor, and wherein determining the first target at the first location includes: presenting, by an operator interface device of the vehicle, an image captured by the at least one range imaging sensor; and receiving, by the operator interface device, an input from an operator indicating a location within the image that corresponds to a first object at the first location. ### Claim 4 (depends on 3) The method of claim 3, wherein determining the path to maneuver the vehicle to the first location includes: detecting within the image a surface of a first portion of the object; and determining a distance to the surface and an orientation of the surface based on depth information associated with the image. ### Claim 5 (depends on 1) The method of claim 1, wherein the second set of one or more environment sensors includes a lidar sensor, and wherein determining the second target at the second location includes: based on the second coordinate data, determining a location of a second portion of the object in the coordinate space. ### Claim 6 (depends on 5) The method of claim 5, wherein the lidar sensor comprises a laser scanner directed at an upward angle, and wherein the laser scanner sweeps horizontally in a plane oriented along the upward angle. ### Claim 7 (depends on 1) The method of claim 1, wherein transmitting the first commands and the second commands to components of the vehicle includes: transmitting commands to one or more of a braking control module, a steering control module, and a torque request module. ### Claim 8 (depends on 1) The method of claim 1, wherein the vehicle is a tractor unit. ### Claim 9 (depends on 1) A non-transitory computer-readable medium having computer-executable instructions stored thereon that, in response to execution by a computing device, cause a vehicle to perform actions for backing to a trailer, the steps of claim 1. ### Claim 10 (depends on 9) The computer-readable medium of claim 9, wherein the computing device comprises an electronic control unit (ECU) of the vehicle. ### Claim 11 A vehicle comprising: a first set of one or more environment sensors mounted on a first portion of the vehicle; a second set of one or more environment sensors mounted on a second portion of the vehicle that differs from the first portion of the vehicle; a braking control module for electronically controlling a brake system; a steering control module for electronically controlling a steering system; a torque request module for electronically causing the vehicle to produce a requested amount of torque; and an electronic control unit (ECU) configured to; calculate first coordinate data based on information received from the first set of one or more environment sensors, determine, based at least in part on the first coordinate data, a first target at a first location; determine a path to maneuver the vehicle to the first location; determine first commands to autonomously control the vehicle to maneuver along the determined path to the first location; transmit the first commands to one or more of the braking control module, the steering control module, and the torque request module; calculate second coordinate data based on information received from the second set of one or more environment sensors; determine based at least in part on the second coordinate data, a second target at a second location; determine a path to maneuver the vehicle from the first location to the second location; determine second commands to autonomously control the vehicle to maneuver along the determined path from the first location to the second location; and transmitting the second commands to one or more of the braking control module, the steering control module, and the torque request module. ### Claim 12 (depends on 11) The vehicle of claim 11, wherein the second set of one or more environment sensors are mounted lower on the vehicle than the first set of one or more environment sensors. ### Claim 13 (depends on 11) The vehicle of claim 11 further comprising an operator interface device, wherein the first set of one or more environment sensors includes at least one range imaging sensor, and wherein determining the first target at the first location includes: presenting, by the operator interface device, an image captured by the at least one range imaging sensor; and receiving, by the operator interface device, an input from an operator indicating a location within the image that corresponds to a first object at the first location. ### Claim 14 (depends on 13) The vehicle of claim 13, wherein determining the path to maneuver the vehicle to the first location includes: detecting within the image a surface of a first portion of the object; and determining a distance to the surface and an orientation of the surface based on depth information associated with the image. ### Claim 15 (depends on 11) The vehicle of claim 11, wherein the second set of one or more environment sensors includes a lidar sensor, and wherein determining the second target at the second location includes: based on the second coordinate data, determining a location of a second portion of the object in the coordinate space. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein the lidar sensor comprises a laser scanner directed at an upward angle, and wherein the laser scanner is configured to sweep horizontally in a plane oriented along the upward angle. ### Claim 17 (depends on 11) The vehicle of claim 11, wherein the vehicle is a tractor unit.