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

Claim 13:
14. A vehicle comprising:
a steering assembly;
one or more sensors;
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 one or more processors to perform operations comprising:
receiving a reference trajectory associated with the vehicle, wherein the vehicle is an autonomous vehicle;
receiving sensor data from the one or more sensors;
determining, based at least in part on the sensor data and the reference trajectory, state data associated with a steering system, the 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 reference trajectory, the state data, and the control data into a first model, the first model comprising a neural network modeling the steering system, 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 position, a predicted orientation, a predicted speed, or a predicted acceleration associated with the vehicle;
determining a control signal for controlling the vehicle, based at least in part on the predicted state; and
controlling, based at least in part on the control signal, a steering actuator associated with the steering system to cause the steering actuator to exert a torque on the steering assembly to follow the reference trajectory.