公开(公告)号：US12139215B1

公开(公告)日：2024-11-12

申请号：US17573128

申请日：2022-01-11

Applicant: Waymo LLC

Inventor： Justin Zaydel ,  Diomidis Katzourakis

IPC: B62D5/04

Abstract: Aspects of the technology involve controlling a vehicle configured to operate in an autonomous driving mode. This includes receiving a set of environmental inputs including temperature information from different temperature sources, receiving initial steering information from a steering system of the vehicle, and obtaining an initial rack position command by a motion control module of the vehicle. The system determines, based on the environmental inputs, the initial steering information and an initial rack position, a likelihood that a steering actuator of the steering system of the vehicle is blocked or likely to become blocked. The system determines whether a threshold excitation amount has been applied to the steering system within a selected amount of time or a selected driving distance. When the threshold amount of excitation is not met, an excitation profile is applied to the steering system in order to modify the initial rack position.

公开(公告)号：US11634160B2

公开(公告)日：2023-04-25

申请号：US16993820

申请日：2020-08-14

Applicant: Waymo LLC

Inventor： Justin Zaydel ,  Nolan McPeek-Bechtold

IPC: B60W60/00 ,  B62D15/02

Abstract: Aspects of the disclosure relate to a vehicle having an autonomous driving mode and a manual driving mode. The vehicle may include a steering system having one or more processors configured to control the orientation of the one or more wheels based on control commands. The vehicle may also include an autonomous driving control system configured to control the vehicle in an autonomous driving mode by generating the control commands and to send the control commands to the steering system. In addition, the steering system may thermally derate the steering system based on first temperature information for the steering system when the vehicle is operating in a manual drive mode, and the autonomous driving control system may thermally derate the steering system based on second temperature information for the steering system when the vehicle is operating in the autonomous driving mode.

公开(公告)号：US20230077259A1

公开(公告)日：2023-03-09

申请号：US17408734

申请日：2021-08-23

Applicant: WAYMO LLC

Inventor： Diomidis Katzourakis ,  Justin Zaydel

IPC: B62D15/02 ,  B60W60/00

Abstract: The technology employs a model structure for motion control in a vehicle configured to operate in an autonomous driving mode. The model structure has components including a vehicle dynamics system module, a column dynamics module, a rack dynamics module, and an actuation control module. A virtual validation and verification model is configurable based on the components of the model structure. Configuration is performed according to a set of operational requirements based on at least one of a vehicle type, occupant loading information, a center of gravity, or tire pressure as per a cold nominal setpoint. The virtual validation and verification model can be executed so that an electric power steering (EPS) module of the model structure components is configured for at least one of: a software-in-loop model, functional EPS assist, angle control, or to emulate an EPS controller.