Embodiments herein relate to an autonomous vehicle or self-driving vehicle. The system can determine a collision avoidance path by: 1) predicting the behavior/trajectory of other moving objects (and identifying stationary objects); 2) given the driving trajectory (issued by autonomous driving system) or predicted driving trajectory (human), establishing the probability for a collision that can be calculated between the vehicle and one or more objects; and 3) finding a path to minimize the collision probability.

Embodiments herein relate to an autonomous vehicle or self-driving vehicle. The system can determine a collision avoidance path by: 1) predicting the behavior/trajectory of other moving objects (and identifying stationary objects); 2) given the driving trajectory (issued by autonomous driving system) or predicted driving trajectory (human), establishing the probability for a collision that can be calculated between the vehicle and one or more objects; and 3) finding a path to minimize the collision probability.

Systems and methods are provided herein for operating a vehicle in a K-turn mode. The K-turn mode is engaged in response to determining that an amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the K-turn mode, forward torque is provided to the front wheels of the vehicle. Further, backward torque is provided to the rear wheels of the vehicle. Yet further, the rear wheels of the vehicle remain substantially in static contact with a ground while the front wheels slip in relation to the ground.

Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.

Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.

Embodiments herein can determine an optimal route for an autonomous electric vehicle. The system may score viable routes between the start and end locations of a trip using a numeric or other scale that denotes how viable the route is for autonomy. The score is adjusted using a variety of factors where a learning process leverages both offline and online data. The scored routes are not based simply on the shortest distance between the start and end points but determine the best route based on the driving context for the vehicle and the user.

Embodiments herein can determine an optimal route for an autonomous electric vehicle. The system may score viable routes between the start and end locations of a trip using a numeric or other scale that denotes how viable the route is for autonomy. The score is adjusted using a variety of factors where a learning process leverages both offline and online data. The scored routes are not based simply on the shortest distance between the start and end points but determine the best route based on the driving context for the vehicle and the user.

A method and equipment for calibrating the steering angle sensor system of an electric steering system of a transportation vehicle during a software update, wherein the steering angle sensor system has a rotor position sensor for determining the rotor position of the electric motor of the electric steering system and the steering angle is derived from the rotor position. The method includes starting the software update, reading in and saving the present position data of the electric motor of the steering system, reading in and saving the memory values of the present calibration of the steering angle sensor system, cyclically monitoring the rotor position of the electric motor using the rotor position sensor, performing the software update, terminating the software update, and writing back the memory values of the calibration and releasing the software update.

Implementations relate to a spherical wheel drive and mounting. In some implementations, a wheel mechanism includes a spherical wheel, a base, and a rotary bearing coupled to the base and contacting a surface of the spherical wheel, where the rotary bearing configured to allow the spherical wheel to rotate. The wheel mechanism includes an omni wheel coupled to the base and engaged with a surface of the spherical wheel, and an actuator coupled to the base and to the omni wheel, where the actuator configured to rotate the omni wheel to cause rotation of the spherical wheel.

Implementations relate to a spherical wheel drive and mounting. In some implementations, a wheel mechanism includes a spherical wheel, a base, and a rotary bearing coupled to the base and contacting a surface of the spherical wheel, where the rotary bearing configured to allow the spherical wheel to rotate. The wheel mechanism includes an omni wheel coupled to the base and engaged with a surface of the spherical wheel, and an actuator coupled to the base and to the omni wheel, where the actuator configured to rotate the omni wheel to cause rotation of the spherical wheel.