An autonomous robotic vehicle includes a chassis, wheels movably mounted to the chassis by a suspension system, and a vehicle pose system. The vehicle pose system includes a ride height sensor system, a processor, and memory. The sensor system is configured to measure wheel displacement of the wheels relative to the chassis. The sensor system includes ride height sensors that determine wheel positions of the wheels with respect to the chassis as the vehicle travels along a surface. The memory has instructions stored thereon which, when executed by the processor cause the vehicle pose system to determine a plane of the surface corresponding to the wheel positions so that the pose system can determine a pose of the vehicle based on an angle of the surface with respect to the vehicle.
DETERMINING VEHICLE POSE USING RIDE HEIGHT SENSORS
2021-04-01
Patent
Electronic Resource
English
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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