Patent ID: 11958554
Assignee: ZOOX, INC.
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method comprising:
receiving a reference trajectory associated with a vehicle, wherein the vehicle is an autonomous vehicle;
receiving sensor data from a sensor associated with the vehicle;
determining, based at least in part on the sensor data and the reference trajectory, vehicle state data comprising one or more of a yaw, a steering rate, a position, an orientation, a speed, or an acceleration of the vehicle;
determining, based at least in part on the sensor data, the reference trajectory, and the vehicle state data, vehicle control data comprising one or more commands for controlling the vehicle;
inputting the vehicle state data and the vehicle control data into a first model comprising a neural network modeling a steering system associated with the vehicle;
inputting the vehicle state data and the vehicle control data into a deterministic and repeatable second model representing a first principle model of the steering system associated with the vehicle;
determining, based at least in part on a first output from the neural network and a second output from the second model, a predicted vehicle state comprising one or more of a predicted yaw, a predicted steering rate, a predicted position, a predicted orientation, a predicted speed, or a predicted acceleration of the vehicle;
determining, based at least in part on the predicted vehicle state, a control signal for controlling the vehicle; and
controlling, based at least in part on the control signal, a steering actuator associated with the steering system to control steering of the vehicle to follow the reference trajectory.