US 11,755,020 B2
Responsive vehicle control
Abishek Krishna Akella, Pleasanton, CA (US); and Janek Hudecek, Redwood City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Sep. 24, 2020, as Appl. No. 17/30,482.
Application 17/030,482 is a continuation of application No. 16/160,594, filed on Oct. 15, 2018, granted, now 10,816,987.
Prior Publication US 2021/0026363 A1, Jan. 28, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
one or more processors; and
memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to:
determine a planned path of the vehicle;
determine, based at least in part on a first process, a first planned acceleration for travelling along a section of the planned path;
determine, based at least in part on a second process, a second planned acceleration of the vehicle along the section of the planned path;
determine, based at least on the first planned acceleration and the second planned acceleration, a control acceleration of the vehicle along the section of the planned path, the control acceleration comprising a function of the first planned acceleration and the second planned acceleration; and
control the vehicle to accelerate along the section of the planned path in accordance with the control acceleration.