US 11,938,776 B1
Multiple model active suspension control
Alexandre Nunes, San Carlos, CA (US); and Johannes Edren, Belmont, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 14, 2022, as Appl. No. 17/671,256.
Int. Cl. B60G 17/0165 (2006.01); B60G 17/018 (2006.01)
CPC B60G 17/0165 (2013.01) [B60G 17/0182 (2013.01); B60G 2400/821 (2013.01); B60G 2600/172 (2013.01); B60G 2600/182 (2013.01); B60G 2600/1874 (2013.01)] 20 Claims
OG exemplary drawing
 
7. A method comprising:
receiving a first mathematical model of a vehicle, the first mathematical model being based at least in part on a modal expansion of the vehicle;
receiving a second mathematical model of the vehicle;
determining, based at least in part on the first mathematical model and a current state of the vehicle, a first predicted future state of the vehicle;
determining, based at least in part on the second mathematical model and the current state of the vehicle, a second predicted future state of the vehicle,
determining a command for controlling an active suspension system based on the first predicted future state and the second predicted future state; and
controlling the active suspension system based at least in part on the command.