Patent ID: 11938998
Assignee: ANAMNESIS CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 12:
13. A vehicle system comprising:
a chassis;
a sensor suite;
a kingpin configured to couple the chassis to a fifth wheel of a semi-tractor;
a secondary fifth wheel configured to couple the chassis to a trailer;
a steering axle mounted to the chassis; and
a computing system communicatively coupled to the sensor suite, the computing system configured to:
determine a vehicle state estimate based on inputs from the sensor suite; and
based on the vehicle state estimate, autonomously control the steering axle based on a kinematic vehicle model to achieve a target relationship between the semi-tractor and the chassis,, wherein, in a low-speed operating mode, the steering axle is autonomously controlled with a unified control scheme for both forward and reverse operation.