US 12,093,043 B2
Multi-controller synchronization
Shayan Darayan, Sugar Land, TX (US); Joseph Funke, Redwood City, CA (US); and Marc Wimmershoff, Palo Alto, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Aug. 23, 2021, as Appl. No. 17/408,997.
Application 17/408,997 is a continuation of application No. 16/226,542, filed on Dec. 19, 2018, granted, now 11,099,563.
Prior Publication US 2021/0382481 A1, Dec. 9, 2021
Int. Cl. G05D 1/00 (2024.01); B60W 30/095 (2012.01)
CPC G05D 1/0088 (2013.01) [B60W 30/0956 (2013.01); G05D 1/0214 (2013.01); G05D 1/0238 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, from a first computing device and at a second computing device, transmitted data comprising vehicle state data, time data indicating at least one of an operational state or an active state of the first computing device, and a trajectory for a vehicle;
determining, at the second computing device and based at least in part on determining that a time period associated with receiving the transmitted data is outside of a time period associated with the transmitted data, an expired state associated with the transmitted data;
determining, at the second computing device and based at least in part on the expired state and determining that a time period associated with the time data has expired, an error state associated with the first computing device;
determining, at the second computing device and based at least in part on the transmitted data and the error state, internal data associated with the vehicle, the internal data comprising a difference between a position of the vehicle and the trajectory of the vehicle;
determining, based at least in part on the internal data, control data; and
controlling based at least in part on the control data, the vehicle.