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

Claim 0:
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
receiving a control command for controlling an actuator of a vehicle;
determining, based at least in part on a first model and the control command, a predicted actuator feedback of the actuator;
receiving actuator feedback data from the actuator within a drive system of the vehicle;
determining a duration of a drive system fault associated with the control command, based at least in part on a first difference between the actuator feedback data and the predicted actuator feedback;
determining, based at least in part on the control command and a second model, a predicted change in a state of the vehicle;
determining a change in the state of the vehicle after receiving the control command;
determining a magnitude of the drive system fault associated with the control command, based at least in part on a second difference between the change in the state of the vehicle and the predicted change in the state; and
controlling the vehicle based at least in part on the magnitude of the drive system fault and the duration of the drive system fault.