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

Claim 7:
8. One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations 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, 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 state data, control data comprising one or more commands for controlling the vehicle
inputting the state data and the control data into a first model, wherein the first model includes a neural network modeling a steering system of the vehicle, and a deterministic and repeatable second model representing a first principle model of the steering system of 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 state comprising one or more of a predicted yaw, a predicted steering rate, a predicted location, a predicted orientation, a predicted speed or a predicted acceleration of the vehicle;
determining, based at least in part on the predicted state, a control signal for controlling the vehicle; and
causing, based at least in part on the control signal, a steering actuator associated with the steering system of the vehicle to actuate and assist in controlling steering of the vehicle to follow the reference trajectory.