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

Claim 11:
12. A non-transitory computer-readable medium having computer-executable instructions stored thereon that, in response to execution by an electronic control unit (ECU) of a vehicle, cause the ECU to perform actions for using and updating a model that represents turning capabilities of the vehicle, the actions comprising;
detecting, by the ECU, an initial location and orientation of the vehicle with respect to an object outside the vehicle;
receiving, by the ECU, vehicle state information from one or more vehicle state sensors;
detecting, by the ECU, a new location and orientation of the vehicle with respect to the object; and
updating, by the ECU, the model 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;
using, by the ECU, the model to determine a path for the vehicle to a target location;
using, by the ECU, the model to determine one or more control commands to cause the vehicle to traverse the path to the target location, and
transmitting, by the ECU, the one or more control commands to cause the vehicle to autonomously traverse the path to the target location.