Patent ID: 11872994
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
determining, based at least in part on first sensor data associated with a first sensor, a steering angle of a wheel of a plurality of wheels associated with a vehicle;
determining, based at least in part on the steering angle, a turn center of the vehicle;
determining an estimated velocity of the vehicle comprising performing a least square algorithm based on a yaw rate of the vehicle, the steering angle and a linear wheel speed of the wheel; and
controlling an operation of the vehicle based at least in part on the estimated velocity.