Patent ID: 11904771
Assignee: GM CRUISE HOLDINGS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. An autonomous vehicle, comprising:
a mechanical system;
at least one sensor system that generates at least one sensor signal; and
a computing system in communication with the mechanical system and the at least one sensor system, the computing system comprises:
a processor; and
memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
identifying points along a perimeter of a wheel of a vehicle nearby the autonomous vehicle based on the at least one sensor signal generated by the at least one sensor system;
identifying a line between the points along the perimeter of the wheel that diametrically bisects the wheel of the vehicle nearby the autonomous vehicle, wherein the line is parallel to a surface that contacts the wheel;
detecting an angle between the line that diametrically bisects the wheel of the vehicle and a direction of travel of the vehicle; and
controlling the mechanical system of the autonomous vehicle based on the angle.