Patent ID: 11878721
Assignee: PACCAR INC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 5:
6. A vehicle, comprising:
a front axle having a left front wheel and a right front wheel attached thereto; a rear axle having a left rear wheel and a right rear wheel attached thereto;
one or more vehicle state sensors;
a computer-readable medium configured to store a model of the vehicle; and an electronic control unit (ECU) configured to:
detect an initial location and orientation of the vehicle with respect to an object outside the vehicle;
receive vehicle state information from the one or more vehicle state sensors;
detect a new location and orientation of the vehicle with respect to the object; and
update the mod& using the initial location and orientation, the new location and orientation, and the vehicle state information, wherein updating the model includes updating one or more of a wheelbase length, an axle track width, a scrub radius, and a maximum steer angle;
use the model to determine a path for the vehicle to a target location;
use the model to determine one or more control commands to cause the vehicle to traverse the path to the target location, and
transmit the one or more control commands to cause the vehicle to autonomously traverse the path to the target location.