The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 27, 2023
Filed:
Dec. 27, 2019
Applicant:
Motional Ad Llc, Boston, MA (US);
Inventors:
Omar Al Assad, Milton, MA (US);
Francesco Seccamonte, Singapore, SG;
Assignee:
Motional AD LLC, Boston, MA (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B62D 6/00 (2006.01); B60W 40/114 (2012.01); C09D 7/61 (2018.01); C09D 7/63 (2018.01); C09D 109/06 (2006.01); C09D 125/06 (2006.01); E01C 7/35 (2006.01);
U.S. Cl.
CPC ...
B62D 6/003 (2013.01); B60W 40/114 (2013.01); C09D 7/61 (2018.01); C09D 7/63 (2018.01); C09D 109/06 (2013.01); C09D 125/06 (2013.01); E01C 7/351 (2013.01); E01C 7/356 (2013.01); E01C 7/358 (2013.01);
Abstract
Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.