Determining vehicle position using sideslip vector

US12252200B2 · kind B2 · utility

Assignee

• Zoox, Inc. · US

Inventors

• Joseph Funke · Redwood City, US
• Liam Gallagher · San Francisco, US
• Marin Kobilarov · Baltimore, US
• Vincent Andreas Laurense · Foster City, US
• Mark Jonathon McClelland · San Francisco, US
• Sriram Narayanan · Richardson, US
• Kazuhide Okamoto · Mountain View, US
• Jack Riley · Beaumont, US
• Jeremy Schwartz · Somerville, US
• Jacob Patrick Thalman · Menlo Park, US
• Olivier Amaury Toupet · Mentryville, US
• David Evan Zlotnik · Menlo Park, US

Key dates

• Filing date: Sep 30, 2022
• Grant date: Mar 18, 2025
• Expiry date: Jun 9, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B62D15/0265
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.