Patent ID: 11932308
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. The method of claim 1, further comprising:
accessing the steering limit data generated prior to operation of the vehicle, the steering limit data defining the first steering angle limit and the second steering angle limit for wheels of the vehicle based on vehicle-agnostic operating parameters;
determining, by a planner of the vehicle using the steering limit data with the first model of the vehicle, a planned path for the vehicle;
determining, by a controller of the vehicle using the steering limit data with the second model of the vehicle, steering angles for the wheels of the vehicle to follow the planned path;
transmitting the steering angles to a steering control system to control operation of the vehicle;
determining, by a monitor of the vehicle and using the steering limit data with a third model of the vehicle, audit data describing current limits for the steering angles of the wheels;
receiving, at the monitor of the vehicle and from the steering control system, steering angle data related to current steering angles of the wheels;
determining, by the monitor, whether the current steering angles are within the current limits; and
controlling the vehicle based at least in part on whether the current steering angles are within the current limits.