Patent ID: 11958501
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 4:
5. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
receiving sensor data associated with an environment within which a vehicle is positioned;
detecting, based at least in part on the sensor data, an object proximate the vehicle;
determining, for individual instances of time and based at least in part on a velocity of the vehicle and a proximity of the vehicle relative to the object, a plurality of performance metrics, individual performance metrics of the plurality of performance metrics being associated with a trajectory and indicative of a performed behavior of the vehicle, wherein the individual performance metrics are based at least in part on a first metric associated with an amount of time for the vehicle to progress to a desired state after executing the trajectory and a second metric associated with a proximity of the vehicle to the object along the trajectory;
determining, for the individual instances of time, a plurality of trajectories for controlling the vehicle proximate the object, wherein the trajectory comprises one of the plurality of trajectories;
determining a correctness metric based at least in part on the plurality performance metrics, wherein the correctness metric represents a correctness of the performed behavior, and the correctness metric is associated with a difference between the plurality of trajectories;
determining a plurality of combined metrics, wherein individual combined metrics of the plurality of combined metrics for the trajectory are determined based on the individual performance metrics of the plurality of performance metrics and the correctness metric;
determining a period of time in which one or more of the plurality of combined metrics is below a threshold value;
updating a component of the vehicle based at least in part on accessing data associated with the period of time; and
controlling the vehicle based at least in part on the correctness metric.