Patent ID: 11922362
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 20:
21. A vehicle configured to operate in an autonomous driving mode, comprising:
a driving system including a steering subsystem, an acceleration subsystem and a deceleration subsystem to control driving of the vehicle in the autonomous driving mode;
a perception system including a plurality of sensors, each of the plurality of sensors being positioned along the vehicle; and
a control system operatively connected to the driving system and the perception system, the control system having one or more computer processors configured to:
receive, during operation in the autonomous mode, sensor information regarding at least one of a cargo arrangement or a cargo securement of cargo along a cargo section of the vehicle;
correlate the received sensor information with one or more vehicle signals, the one or more vehicle signals including a change in vehicle dynamics, a change in a suspension mechanism, a change in tire pressure of at least one tire, or a change in vehicle pose;
determine, based on the correlation, whether at least a portion of the cargo is no longer secured according to a threshold securement requirement; and
upon determining that at least the portion of the cargo is no longer secured, cause the vehicle to take a corrective action while operating in the autonomous driving mode.