US 12,215,531 B1
Control system for vehicle doors
William Cheringal, San Francisco, CA (US); Evan David Cook, Woodside, CA (US); and Nigil Lee, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 17, 2020, as Appl. No. 17/125,580.
Int. Cl. E05F 15/40 (2015.01); B60J 5/04 (2006.01); B60J 5/06 (2006.01); E05F 15/659 (2015.01); E05F 15/70 (2015.01); G01R 19/165 (2006.01); H02P 5/74 (2006.01); H02P 23/14 (2006.01); H02P 23/24 (2016.01)
CPC E05F 15/40 (2015.01) [B60J 5/0413 (2013.01); B60J 5/0469 (2013.01); B60J 5/0479 (2013.01); B60J 5/06 (2013.01); E05F 15/659 (2015.01); E05F 15/70 (2015.01); G01R 19/16571 (2013.01); H02P 5/74 (2013.01); H02P 23/14 (2013.01); H02P 23/24 (2016.02); E05Y 2201/434 (2013.01); E05Y 2400/44 (2013.01); E05Y 2400/54 (2013.01); E05Y 2900/531 (2013.01); H02P 2205/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
one or more processors; and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the vehicle to perform operations comprising:
receiving a signal to operate a door of the vehicle to open or close;
determining a pitch and a roll of the vehicle;
determining a historical current changing over time and being previously used by a motor to operate the door of the vehicle with a previous pitch and a previous roll;
determining, based at least in part on the historical current, and the pitch and the roll, an expected current to operate the door;
controlling the motor to operate the door;
measuring an actual current used by the motor to operate the door;
determining that the actual current exceeds the expected current by a threshold amount;
detecting, based at least in part on the actual current exceeding the expected current by the threshold amount, an obstruction of the door preventing the door from opening or closing; and
performing an action based at least in part on detecting the obstruction.