Patent ID: 11922740
Assignee: ZOOX, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 17:
18. One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:
receiving sensor data from a sensor on a vehicle;
determining, based at least on a portion of the sensor data, a behavior of the vehicle, the behavior comprising an amount of torque applied to a wheel of the vehicle;
determining a deviation between the behavior of the vehicle and an expected behavior of the vehicle, the expected behavior of the vehicle being determined based on a model of the vehicle and comprises an expected amount of torque that is expected to be associated with the wheel, and the deviation comprises a difference between the amount of torque applied to the wheel and the expected amount of torque that is expected to be associated with the wheel;
determining a deviation between the behavior of the vehicle and the expected behavior of the vehicle; and
determining, based at least in part on the behavior of the vehicle deviating from the expected behavior by meeting or exceeding a threshold deviation, a confidence value indicative that a component of a plurality of components of the vehicle is associated with a fault.