Patent ID: 11891059
Assignee: CANOO TECHNOLOGIES INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. An apparatus, comprising:
at least one camera configured to capture an image of a traffic lane in front of a vehicle; and
a path tracking controller configured to:
detect lane boundaries and a path curvature for the traffic lane from the image,
determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature,
using a kinematics control, determine a yaw rate that will maintain the vehicle within the traffic lane based on one or more of a vehicle forward velocity, a relative course angle based on a heading offset for the vehicle, the path curvature, the lateral offset of the vehicle, or feedback from a dynamics control,
using the dynamics control and the yaw rate determined by the kinematics control, determine a steering angle that will maintain vehicle within the traffic lane, and
activate a steering control based on the determined steering angle.