Patent ID: 11919526
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 15:
16. One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving a control command for controlling an actuator of a vehicle;
receiving, from the actuator, actuator feedback data associated with the control command;
determining a predicted vehicle state using a vehicle state model, wherein the predicted vehicle state is based at least in part on the control command;
determining a vehicle state after receiving the control command;
determining a magnitude of a drive system fault associated with the control command, based at least in part on a difference between the vehicle state and the predicted vehicle state;
determining a duration of the drive system fault, based at least in part on the actuator feedback data; and
controlling the vehicle based at least in part on the magnitude and the duration of the drive system fault.