Patent ID: 11938776
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicle comprising:
an active suspension system;
sensors;
one or more processors; and
non-transitory computer readable media storing one or more instructions implemented by the one or more processors to perform actions comprising:
receiving a first mathematical model of the vehicle, the first mathematical model being based at least in part on a modal expansion of the vehicle;
receiving a second mathematical model of the vehicle, the second mathematical model being based at least in part on a kinematic model of the vehicle;
receiving, from a sensor on the vehicle, sensor data about the vehicle;
determining, based at least in part on the sensor data, an estimation of a current state of the vehicle;
determining, based at least in part on the estimation and the first mathematical model, a first predicted future state of the vehicle;
determining, based at least in part on the estimation and the second mathematical model, a second predicted future state of the vehicle;
determining a command for controlling the active suspension system based on the first predicted future state and the second predicted future state; and
controlling the active suspension system based at least in part on the command.